oxidros-wrapper

Ergonomic ROS2 API implementing oxidros-core traits for the RCL backend.

This crate provides newtype wrappers around oxidros-rcl types and implements the core API traits, making it easy to work with ROS2 using async/await patterns.

Features

• Newtype wrappers: Wraps oxidros-rcl types to implement oxidros-core traits (orphan rule workaround)
• Async streams: Convert subscribers to Stream via into_stream() for use with tokio::select!
• Service handling: Async service client/server with request/response patterns
• Action support: Full action client/server implementation
• Parameter server: ROS2 parameter server support

Requirements

• ROS2 installation (Humble, Jazzy, or Kilted)
• ROS2 environment sourced (source /opt/ros/<distro>/setup.bash)

Example

use oxidros_wrapper::prelude::*;
use oxidros_wrapper::msg::common_interfaces::std_msgs;
use tokio::signal::ctrl_c;

#[tokio::main]
async fn main() -> Result<(), Box<dyn std::error::Error>> {
    let ctx = Context::new()?;
    let node = ctx.create_node("my_node", None)?;

    // Create publisher using core trait
    let publisher = node.create_publisher::<std_msgs::msg::String>("topic", None)?;

    // Create subscriber and convert to stream
    let mut subscriber = node
        .create_subscriber::<std_msgs::msg::String>("topic", None)?
        .into_stream();

    loop {
        tokio::select! {
            Some(Ok(msg)) = subscriber.next() => {
                println!("Received: {:?}", msg.sample.data.get_string());
            }
            _ = ctrl_c() => break,
        }
    }
    Ok(())
}

Architecture

oxidros-wrapper sits between application code and oxidros-rcl:

Application
    │
    ▼
oxidros-wrapper  ─── implements ───►  oxidros-core traits
    │
    ▼
oxidros-rcl  ─── FFI bindings ───►  RCL (ROS Client Library)

For a pure-Rust alternative without RCL dependencies, see oxidros-zenoh.