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Yuma Hiramatsu
8165ad3958
|
4 years ago | |
|---|---|---|
| .github/workflows | 4 years ago | |
| rcl-sys | 4 years ago | |
| rclrust | 4 years ago | |
| rclrust-msg | 4 years ago | |
| rclrust-msg-gen | 4 years ago | |
| .gitignore | 4 years ago | |
| Cargo.toml | 4 years ago | |
| LICENSE | 4 years ago | |
| README.md | 4 years ago | |
| rustfmt.toml | 4 years ago | |
README.md
RclRust
| Target | Status |
|---|---|
| Foxy (Ubuntu 20.04) |  |
Introduction
This is yet another ROS2 client library written in Rust.
I have implemented it independent of the ament or colcon.
By using proc-macro to generate message-type and service-type code, crate dependency resolution can now be completed in cargo. This was inspired by rosrust.
Development environment
- OS: Ubuntu 20.04
- ROS2: Foxy
- rustc: 1.54.0 (stable)
Supporting features
- Code generation from
.msg,.srv,.action - Loggers
- Publishers/Subscriptions
- Services/Clients
- Timers
- Parameters (without services)
TODO
- Parameter services/clients
- Actions
- Multithread
- Lifecycles
- More
- Unit test
- Documentation
- Examples (especially with ament)
- etc...
I'm not going to support
- Components
- Is it necessary for Rust?
Examples
Prepare
$ git clone git@github.com:rclrust/rclrust.git
$ cd rclrust
$ cargo build
Pub/Sub
Publisher:
$ cargo run --examples publisher
Subscription
$ cargo run --examples subscription
For more examples, see https://github.com/rclrust/rclrust/tree/main/rclrust/examples.
The other ROS2 clients written in Rust
DORA (Dataflow-Oriented Robotic Architecture) is middleware designed to streamline and simplify the creation of AI-based robotic applications. It offers low latency, composable, and distributed datafl
Rust Python TOML Markdown C other