# openrr: `Open Rust Robotics`
 [](https://crates.io/crates/openrr) [](https://codecov.io/gh/openrr/openrr) [](https://docs.rs/openrr) [](https://openrr.github.io/openrr/openrr)
OpenRR (pronounced like "opener") is Open Rust Robotics platform.
**It's heavily under development.**
## Supported Platforms
|Linux (Ubuntu)|✔|✔|✔|✔|
|MacOS |✔|✔|✔| |
|Windows |✔|✔| | |
* You can use ROS *without ROS installation* on Linux/MacOS.
* ROS2 Support is experimental. See [arci-ros2](https://github.com/openrr/openrr/tree/main/arci-ros2) for details.
## Dependencies
### Linux
```bash
sudo apt install cmake build-essential libudev-dev xorg-dev libglu1-mesa-dev libasound2-dev libxkbcommon-dev
```
* cmake build-essential (openrr-planner (assimp-sys))
* libudev-dev (arci-gamepad-gilrs)
* xorg-dev libglu1-mesa-dev libxkbcommon-dev (openrr-gui (iced))
* libasound2-dev (arci-speak-audio)
## Architecture
`arci` is a hardware abstraction layer for openrr.
Currently [ROS1](https://ros.org) and [urdf-viz](https://github.com/openrr/urdf-viz) (as a static simulator (actually it's just a viewer)) are implemented.
You can write platform/hardware independent code if you use `arci` traits.
## What is OpenRR?
OpenRR contains..
* abstract robot interfaces (`arci`)
* concrete implementation of the interfaces (`arci-ros`, `arci-urdf-viz`, ...)
* library which uses the interfaces (`openrr-client`, ...)
* tools (`openrr-apps`)
* pure libraries nothing to do with `arci` (`openrr-planner`, ...)
## Tools
Currently we have some tools to control real/sim robots.
See [openrr-apps](https://github.com/openrr/openrr/tree/main/openrr-apps) for details.
### joint_trajectory_sender
Inspired by [joint_state_publisher_gui](http://wiki.ros.org/joint_state_publisher)
<img width="400" alt="joint_sender" src="https://user-images.githubusercontent.com/43724913/106704866-27600680-6630-11eb-91ee-5eb29515fe46.png">
You can use this GUI not only for ROS but anything if you implement `arci::JointTrajectoryClient` and write a small binary main function.
### robot_command
General CLI to access `arci` robot clients. It supports not only sending joint trajectory directly but it supports inverse kinematics with self-collision check, and navigation.
## Format
To format use nightly rustfmt,
```bash
cargo +nightly fmt
```
## License
Licensed under the [Apache License, Version 2.0](https://github.com/openrr/openrr/blob/main/LICENSE).
## Related openrr repositories
* [k](https://github.com/OpenRR/k) : kinematics library
* [ros-nalgebra](https://github.com/OpenRR/ros-nalgebra) : rosrust nalgebra converter generator
* [rrt](https://github.com/OpenRR/rrt) : RRT-dual-connect path planner
* [trajectory](https://github.com/OpenRR/trajectory) : trajectory interpolator
* [urdf-rs](https://github.com/OpenRR/urdf-rs) : URDF parser
* [urdf-viz](https://github.com/OpenRR/urdf-viz): URDF visualizer
* ~~[gear](https://github.com/OpenRR/gear)~~ : (deprecated) motion planning library, but it is openrr-planner now.
## Why OpenRR?
We strongly believe that Rust is the future of robotics.
OpenRR is the world first robotics platform which is made by Rust, made for Rust.
It can be a reference, a base for the future robotic people, like us.
## Contribution
We appreciate for your any contributions!
[Create an issue](https://github.com/openrr/openrr/issues/new) at first!
## Using OpenRR
You can read the tutorial books at the following links.
- [English](https://openrr.github.io/openrr-tutorial/en)
- [Japanese](https://openrr.github.io/openrr-tutorial/ja)