#transforms #robotics #ROS #tf

rustros_tf

This is a rust port of the ROS tf library. It is intended for being used in robots to help keep track of multiple coordinate frames and is part of a larger suite of rust libraries that provide support for various robotics related functionality.

1 unstable release

0.1.0 Apr 29, 2020

#37 in Robotics

MIT/Apache

37KB
707 lines

rustros_tf

Build Status | API Documentation

This is a rust port of the ROS tf library. It is intended for being used in robots to help keep track of multiple coordinate frames and is part of a larger suite of rust libraries that provide support for various robotics related functionality.

Features

So far the only the following have been implemented:

  • TfListener with lookup_transform and time traversal.

I am still working on the following:

  • Integration with point clouds.
  • Integration with image geometry.
  • Removal of ndarray as a dependency.
  • Adding nalgebra related conversion methods.
  • More efficient cache data structure.
  • A TfBroadcaster struct.
  • Weed out unwrap()s

Supported platforms

Currently only Ubuntu 18.04 running ROS Melodic on x86_64 is tested. It should work on any linux based system with a proper ROS installation.

Getting Started

Install ROS first. On ubuntu, this can be done like so:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -
sudo apt update
sudo apt install ros-melodic-desktop

You will also need a fortran compiler.

sudo apt install gfortran

After installing ROS, you may simply add this crate as a dependency to your cargo project:

[dependencies]
rustros_tf = "0.1.0"

Example usage

The following example shows a simple lookup.

extern crate rosrust;
extern crate rosrust_msg;
extern crate rustros_tf;

use rustros_tf::TfListener;

fn main() {
    rosrust::init("listener");
    let listener = TfListener::new();
    
    let rate = rosrust::rate(1.0);
    while rosrust::is_ok() {
        let tf = listener.lookup_transform("camera", "base_link", rosrust::Time::new());
        println!("{:?}", tf);
        rate.sleep();
    }
}

Dependencies

~59MB
~1M SLoC