Skip to content
Rust bindings for ROS2
Rust CMake Python EmberScript C++
Branch: master
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Type Name Latest commit message Commit time
Failed to load latest commit information.
ament_cmake_export_crates
rclrs
rclrs_common
rclrs_examples
rosidl_generator_rs
LICENSE
NOTICE
README.md Set up CI with Azure Pipelines May 25, 2019
azure-pipelines.yml
ros2_rust.repos

README.md

ROS2 for Rust

Build status

Target Status
Ubuntu 18.04 Build Status

Introduction

This is a set of projects (bindings, code generator, examples and more) that enables developers to write ROS2 applications in Rust.

Features

The current set of features include:

  • Generation of all builtin ROS types
  • Support for publishers and subscriptions
  • Tunable QoS settings

What's missing?

Lots of things!

  • An ament build type for Cargo. The current examples use CMake to install and build the binaries... and it's really ugly.
  • Component nodes
  • Clients and services
  • Tests
  • Documentation

Limitations

  • messages are deep-copied and this can be terribly inefficient for big messages like images; the current solution leverages C typesupport implementations and might benefits from a direct serialization/deserialization
  • the current solution for crates export with CMake is not very robust
  • rclrs interface is very limited for now and might not be so much idiomatic yet, any help and suggestion on the interface would be greatly appreciated
  • due to the current ROS2 support of non-default clients, packages containing definitions of messages used in Rust crates must be present in the current workspace; otherwise message crates generation won't be triggered

Sounds great, how can I try this out?

The following steps show how to build the examples:

# first, install vcstool from PyPI or apt:
# sudo apt install python3-vcstool
# pip install vcstool

mkdir -p ~/ros2_rust_ws/src
cd ~/ros2_rust_ws
wget https://raw.githubusercontent.com/ros2-rust/ros2_rust/master/ros2_rust.repos
vcs import src < ros2_rust.repos
source /opt/ros/crystal/setup.sh
colcon build

Now you can just run a bunch of examples.

Publisher and subscriber

Publisher:

. ./install/setup.sh

ros2 run rclrs_examples rclrs_publisher

Subscriber:

. ./install/setup.sh

ros2 run rclrs_examples rclrs_subscriber

Enjoy!

You can’t perform that action at this time.