RclRust

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)
• CI
• 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

• ros2_rust
• r2r