pamoja-ros2

ROS 2 bridge logic for the pamoja SDK: topic/service name validation and DDS mapping, RIHS01 type-hash and DDS type-name handling, rmw_zenoh key-expression assembly, and CDR message encoding, no_std and allocation-light. The pure-logic half ahead of the live r2r/Zenoh bridge.

The same capability in every language

ROS 2 bridge logic for the pamoja SDK.

Bridging a ROS 2 robot onto the pamoja device model means speaking ROS 2's wire conventions exactly: the rules a topic or service name must obey, how that name maps onto the middleware, how a message type is named and hashed, the Zenoh key a rmw_zenoh peer expects, and how a message is serialized as CDR. Each is precise, specified, and a classic place for a from-memory bug, so it lives here as checked logic anchored to the ROS 2 and OMG specifications, ahead of the live r2r/Zenoh bridge that carries the bytes.

The modules are:

• name - validate ROS 2 topic and service names and map them to DDS topic names with the rt/rq/rr prefixes, plus the %-mangling rmw_zenoh uses in liveliness tokens.
• typehash - parse and format the RIHS01 type hash (REP-2011) and turn a ROS type like std_msgs/msg/String into its DDS type name std_msgs::msg::dds_::String_.
• key - assemble the rmw_zenoh key expression <domain>/<name>/<type>/<hash> a Zenoh peer subscribes to, validated as a Zenoh key expression through pamoja_zenoh.
• msg - encode and decode messages as CDR (the OMG Common Data Representation, the format DDS and rmw_zenoh put on the wire), starting with the geometry messages a robot is driven by.

With the bridge feature on, bridge adds the live layer: a bridge::Ros2Node over r2r whose publishers and subscribers are exposed as the core Actuator and Sensor, so a ROS 2 robot drives like any other pamoja device. That layer needs a sourced ROS 2 install (r2r generates message bindings at build time), so it is built and tested in the ros:jazzy container.

Examples

use pamoja_ros2::msg::{Twist, Vector3};
use pamoja_ros2::name::{dds_topic, EntityKind};

// A fully-qualified topic maps onto its DDS topic name.
assert_eq!(dds_topic("/cmd_vel", EntityKind::Topic).as_deref(), Some("rt/cmd_vel"));

// A command velocity round-trips through CDR.
let cmd = Twist { linear: Vector3::new(0.5, 0.0, 0.0), angular: Vector3::new(0.0, 0.0, 0.2) };
let bytes = cmd.to_cdr();
assert_eq!(Twist::from_cdr(&bytes), Some(cmd));

License

MIT - part of the pamoja workspace: one memory-safe Rust core with bindings for every language.