rclrust

<img src="https://user-images.githubusercontent.com/25898373/131146249-36f349ba-ce33-462d-89f8-40bfa1a9899f.png" width="200px" alt="rclrust's logo"/>

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

Supporting Environments

• Rust: 1.56+
• ROS2:
  • Foxy (doc)
  • Galctic (doc)
  • Rolling (doc)
• OS:
  • Ubuntu
• DDS:
  • Fast DDS (Default for Foxy)
  • Cyclone DDS (Default for Galactic+)

Supporting features

• Code generation from .msg, .srv, .action
• Loggers
• Publishers/Subscriptions
• Services/Clients
• Timers
• Parameters (without services)

TODO

• Parameter services/clients
• Actions
• Lifecycles
• More
  • Unit test
  • Documentation
  • Examples (especially with ament)
• etc...

Distribution

RclRust is supporting multiple distributions by using cargo features. If you use a fixed distribution, set features in Cargo.toml as follows.

rclrust = { git = "https://github.com/rclrust/rclrust.git", features = ["foxy"] }

Otherwise, do not set features in Cargo.toml and pass target features like --featuers rclrust/${ROS_DISTRO} on build.

rclrust = { git = "https://github.com/rclrust/rclrust.git" }

Examples

Prepare

$ git clone git@github.com:rclrust/rclrust.git
$ cd rclrust
$ cargo build

Pub/Sub

Publisher:

$ cargo run --features <distro> --examples publisher

Subscription

$ cargo run --features <distro> --examples subscription

Other examples are here, and examples with colcon are here.

Notice

The icon of RclRust was created by combinating and modifing the following materials.

• ros.svg © ROS (Licensed under CC BY 4.0)
• Gear-icon.png (Licensed under CC0 1.0)

The other ROS2 clients written in Rust

• ros2_rust
• r2r