gz

This crate contains following crates and re-exports them.

• gz-msgs: Rust implementation of Gazebo Messages
• gz-transport: Rust wrapper of Gazebo Transport

Gazebo version

This crate is supporting following versions of Gazebo.

• Fortress
• Garden (EOL)
• Harmonic
• Ionic

Gazebo version can be specified by a feature flag (fortress, garden, harmonic or ionic). If not specified, the version is determined by using pkg-config. When multiple versions are installed, the newer version takes precedence. If you want to use an older version, set the feature flag as above.

[dependencies]
gz = { version = "0.9.0", features = ["harmonic"] }

Dependencies

• Gazebo
  • gz-msgs
  • gz-transport
• pkg-config

Examples

Example: Publish

use gz::{msgs::stringmsg::StringMsg, transport::Node};

let mut node = Node::new().unwrap();
let mut publisher = node.advertise("topic_name").unwrap();

let topic = StringMsg {
    data: "Hello, world!".to_string(),
    ..Default::default()
};

assert!(publisher.publish(&topic));

Example: Subscribe (callback)

use gz::{msgs::stringmsg::StringMsg, transport::Node};

let mut node = Node::new().unwrap();
node.subscribe("topic_name", |msg: StringMsg| {
    println!("Subscribed: {}", msg.data);
});

gz::transport::wait_for_shutdown();

Example: Subscribe (channel)

subscribe_channel also uses callbacks internally. However, subscribe_channel may be easier to use when ownership is involved.

use gz::{msgs::stringmsg::StringMsg, transport::Node};

let mut node = Node::new().unwrap();
let rx = node.subscribe_channel::<StringMsg>("topic_name", 10).unwrap();

for msg in rx {
    println!("Received: {}", msg.data);
}