#transforms #robotics #ros #tf

tf_rosrust

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.

3 releases

new 0.0.3 Jul 29, 2021
0.0.2 Jul 14, 2021
0.0.1 Jul 1, 2021

#86 in Robotics

Download history 98/week @ 2021-06-25 488/week @ 2021-07-02 520/week @ 2021-07-09 386/week @ 2021-07-16 288/week @ 2021-07-23

597 downloads per month
Used in 3 crates (via arci-ros)

MIT/Apache

44KB
1K SLoC

tf_rosrust

Build and Test crates.io docs

This project is forked from arjo129 rustros_tf,MaxiMaerz rustros_tf.

  • changes from original code
    • fix transformations by MaxiMaerz
    • contains ros msg files to run without ros installation
    • fix dynamic tf handling

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:

  • 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

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

[dependencies]
tf_rosrust = "0.0.1"

Third party software

This product includes copies and modifications of software developed by third parties:

  • ros_msgs includes copies and modifications of msg packages by ros and tf2_msgs, licensed under the 2-Clause BSD License.

See the license files included in these directories for more details.

Example usage

The following example shows a simple lookup.

extern crate rosrust;
extern crate rosrust_msg;
extern crate tf_rosrust;

use tf_rosrust::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

~18MB
~396K SLoC