rclrust-examples

This repository shows examples of using rclrust with colcon.

Requirements

• ROS2 foxy+
• Rust 1.53+

Build

$ cd <your/workspace>/src
$ git clone git@github.com:rclrust/rclrust-examples.git
$ cd ../
$ colcon build

Pub/Sub

Publisher

$ ros2 run rclrust_examples_minimal_publisher rclrust_examples_minimal_publisher
[INFO] [1630516491.396324233] [minimal_publisher]: Publishing: 'Hello, world! 1'
[INFO] [1630516491.896318225] [minimal_publisher]: Publishing: 'Hello, world! 2'
[INFO] [1630516492.396316312] [minimal_publisher]: Publishing: 'Hello, world! 3'
[INFO] [1630516492.896360752] [minimal_publisher]: Publishing: 'Hello, world! 4'
[INFO] [1630516493.396322000] [minimal_publisher]: Publishing: 'Hello, world! 5'
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Subscriber

$ ros2 run rclrust_examples_minimal_subscriber rclrust_examples_minimal_subscriber
[INFO] [1630516575.877511586] [minimal_subscriber]: I heard: 'Hello, world! 1'
[INFO] [1630516576.377395436] [minimal_subscriber]: I heard: 'Hello, world! 2'
[INFO] [1630516576.877378362] [minimal_subscriber]: I heard: 'Hello, world! 3'
[INFO] [1630516577.377380077] [minimal_subscriber]: I heard: 'Hello, world! 4'
[INFO] [1630516577.877374734] [minimal_subscriber]: I heard: 'Hello, world! 5'
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