Lib.rs

A implementation of roslibrust's generic traits for native ROS1 communication.

This is a pure rust re-implementation of ROS1 communication via xmlrpc and TCPROS. This crate shows performance on par with roscpp.

It is recommended to not use this crate directly and instead access if via the roslibrust crate with the ros1 feature enabled.

Basic Example:

// Normally accessed as roslibrust::{Result, TopicProvider, Publish}
use roslibrust_common::{Result, TopicProvider, Publish};
// Normally you'd use generated types from roslibrust::codegen
use roslibrust_test::ros1::*;
use roslibrust_ros1::NodeHandle;

async fn my_behavior(ros: impl TopicProvider) -> Result<()> {
    let publisher = ros.advertise::<std_msgs::String>("my_topic").await?;
    publisher.publish(&std_msgs::String { data: "Hello, world!".to_string() }).await?;
    Ok(())
}

#[tokio::main]
async fn main() -> Result<()> {
    // Create a ros1 handle we can use
    let ros = NodeHandle::new("http://localhost:11311", "my_node").await?;
    // Use it like ros:
    my_behavior(ros).await?;
    Ok(())
}