🦀 rust_controller

This repository was created as part of a learning journey into the Rust programming language, which is increasingly popular in the embedded systems field. Recognized for its performance and memory safety, Rust is often considered a faster and more efficient alternative to C++.

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📌 Project Objective

This is a minimal trajectory tracking controller for mobile robots, inspired by the controller_server component of the Nav2 framework.

The goals of this project are to:

• Apply Rust concepts in a robotics context
• Explore interoperability between Rust and the ROS2 middleware using the rclrs crate
• Provide a working Follow path controller to follow generated trajectories

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⚙️ Features

• Lifecycle-inspired architecture (configure → activate → deactivate...)
• Path types supported: linear, circular, sinusoidal just for example
• Integration with turtlesim for basic simulation
• Option to switch between simulated pose and real-time pose feedback

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🚀 Prerequisites

Before building this project, make sure you have:

• Rust (stable or nightly)
• ROS2 Humble (or any version compatible with rclrs)
• rclrs (Rust bindings for ROS2):
  👉 Follow instructions here: https://github.com/ros2-rust/ros2_rust
• turtlesim for basic robot simulation:

  sudo apt install ros-humble-turtlesim

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📦 Installation

1. Clone this repository:

   cd ~/ros_ws/src
   git clone https://github.com/Klein237/rust_controller.git

2. Build the package with colcon:

   cd ~/ros_ws
   source /opt/ros/humble/setup.bash
   colcon build --packages-select rust_controller

3. Source your environment:

   source install/setup.bash

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🕹️ Run

Start turtlesim:

ros2 run turtlesim turtlesim_node

Init the pose

ros2 service call /turtle1/teleport_absolute turtlesim/srv/TeleportAbsolute "{x: 1.0, y: 1.0, theta: 0.9}"

Launch the wrapper node

python3 rust_controller/script/wrapper_turtle.py

Launch the controller:

ros2 run rust_controller rust_controller

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🎥 📷 Demos

📁 Project Structure

rust_controller/
├── src/
│   ├── main.rs
│   ├── controller_server.rs
│   ├── path_handler.rs
│   └── ...
├── package.xml
├── Cargo.toml
└── README.md

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🤝 Contributing

Contributions are welcome!
Here’s how you can help:

1. Fork the repository
2. Create a branch: git checkout -b feature/my-feature
3. Commit your changes: git commit -am 'Add new feature'
4. Push to your branch: git push origin feature/my-feature
5. Open a pull request 📬

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🙏 Acknowledgments

Big thanks to the ROS2 and Rust communities for the amazing tools and libraries.
This project is also a tribute to all Rust learners starting from scratch — one step at a time 🚶‍♂️

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📜 License

MIT License. See the LICENSE file for details.