Crate ros2_client

ROS 2 client library, similar to the rclcpp or rclpy libraries, in native Rust. The underlying DDS implementation, RustDDS, is also native Rust.

Example

use futures::StreamExt;
use ros2_client::*;

  let context = Context::new().unwrap();
  let mut node = context
    .new_node(
      NodeName::new("/rustdds", "rustdds_listener").unwrap(),
      NodeOptions::new().enable_rosout(true),
    )
    .unwrap();

  let chatter_topic = node
    .create_topic(
      &Name::new("/","topic").unwrap(),
      MessageTypeName::new("std_msgs", "String"),
      &ros2_client::DEFAULT_SUBSCRIPTION_QOS,
    )
    .unwrap();
  let chatter_subscription = node
    .create_subscription::<String>(&chatter_topic, None)
    .unwrap();

  let subscription_stream = chatter_subscription
    .async_stream()
    .for_each(|result| async {
      match result {
        Ok((msg, _)) => println!("I heard: {msg}"),
        Err(e) => eprintln!("Receive request error: {:?}", e),
      }
    });

  // Since we enabled rosout, let's log something
  rosout!(
    node,
    ros2::LogLevel::Info,
    "wow. very listening. such topics. much subscribe."
  );

  // Uncomment this to execute until interrupted.
  // --> smol::block_on( subscription_stream );

Modules

• action
  ROS 2 Action machinery
• builtin_interfaces
  Some builtin interfaces for ROS2 communication Defines message types Duration and Time. See builtin_interfaces
• builtin_topics
  Some builtin datatypes needed for ROS2 communication Some convenience topic infos for ROS2 communication
• entities_info
  Message types for ROS 2 Discovery
• log
  rosout logging data types
• message
  Defines Message trait, which defines data that is to be sent over Topics.
• message_info
  Metadata for received Messages, such as Timestamps and publisher id.
• names
  This module defines types to represent ROS 2 names for
• parameters
  Rust-like representation of ROS2 Parameters
• rcl_interfaces
  Corresponds to package rcl_interfaces. Defines message types for Parameter manipulation.
• ros2
  Module for stuff we do not want to export from top level;
• ros_time
• service
  Implementation of ROS 2 Services
• steady_time
  Steady time has an arbitrary origin, but is guaranteed to run monotonically (i.e. non-decreasing), regardless of clock corrections or timezones.

Macros

• rosout
  Macro for writing to rosout topic.

Structs

• AService
  AService is a means of constructing a descriptor for a Service on the fly. This allows generic code to construct a Service from the types of request and response.
• Action
  This is used to construct an ActionType implementation from pre-existing component types.
• ActionTypeName
  Similar to MessageTypeName, but names an Action type.
• Client
  Client end of a ROS2 Service
• Context
  Context communicates with other participants information in ROS2 network. It keeps track of NodeEntitiesInfos. Also acts as a wrapper for a RustDDS instance.
• ContextOptions
  Builder for configuring a Context
• DEFAULT_PUBLISHER_QOS
  Basic Reliable QoS for publishing.
• DEFAULT_SUBSCRIPTION_QOS
  Basic BestEffort QoS for subscribers
• MessageInfo
  Message metadata
• MessageTypeName
  Name for .msg type, or a data type carried over a Topic.
• Name
  Names for Topics, Services
• Node
  Node in ROS2 network. Holds necessary readers and writers for rosout and parameter events topics internally.
• NodeName
  Names for Nodes
• NodeOptions
  Configuration of Node This is a builder-like struct.
• Parameter
  Named parameter
• Publisher
  A ROS2 Publisher
• ROSTime
  ROS Time with nanosecond precision
• Server
  Server end of a ROS2 Service
• ServiceTypeName
  Similar to MessageTypeName, but names a Service type.
• Spinner
  Spinner implements Node’s background event loop.
• Subscription
  A ROS2 Subscription
• SystemTime
  Same as ROSTime, except this one cannot be simulated.
• WString
  UTF-16 strings, as required by the ROS type system.

Enums

• NodeCreateError
  What went wrong in Node creation
• NodeEvent
  DDS or ROS 2 Discovery events.
• ParameterError
  Error when setting Parameters
• ParameterValue
  Rust-like representation of ROS2 ParameterValue
• ServiceMapping
  Selects how Service Requests and Responses are to be mapped to DDS.

Statics

• DEFAULT_PUBLISHER_QOS
• DEFAULT_SUBSCRIPTION_QOS

Traits

• ActionTypes
  A trait to define an Action type
• Message
  Trait to ensure Messages can be (de)serialized
• Service
  Service trait pairs the Request and Response types together. Additionally, it ensures that Response and Request are Messages (Serializable), and we have a means to name the types.