ros2args 0.5.4

A Rust parser for ROS2 command-line arguments and parameter files
Documentation

ROS2 Command-Line Arguments Parser

A standalone Rust crate providing a comprehensive implementation of the ROS2 command-line arguments specification as defined in the ROS2 Command Line Arguments design document.

This crate is completely independent and can be used in any Rust project that needs to parse ROS2-style command-line arguments, regardless of whether you're building a full ROS2 node or just need compatible argument parsing.

Features

  • ✅ Name remapping - Parse --remap / -r arguments for topic/service/node remapping
  • ✅ Parameter assignment - Parse --param / -p arguments for single parameter assignments
  • ✅ Parameter files - Load and parse YAML parameter files with --params-file
  • ✅ Wildcard support - Full wildcard pattern matching (*, **) in parameter files

Usage

Add to your Cargo.toml:

[dependencies]
ros2args = "0.1"

Basic Example

use ros2args::parse_ros2_args;

let args = vec![
    "my_program".to_string(),
    "--ros-args".to_string(),
    "-r".to_string(),
    "old_topic:=/new_topic".to_string(),
    "-p".to_string(),
    "use_sim_time:=true".to_string(),
    "--log-level".to_string(),
    "DEBUG".to_string(),
];

let (ros_args, user_args) = parse_ros2_args(&args)?;

// Access parsed arguments
for rule in &ros_args.remap_rules {
    println!("Remap: {} -> {}", rule.from, rule.to);
}

for param in &ros_args.param_assignments {
    println!("Param: {} = {}", param.name, param.value);
}

Node-Specific Arguments

use ros2args::parse_ros2_args;

let args = vec![
    "program".to_string(),
    "--ros-args".to_string(),
    "-r".to_string(),
    "my_node:old_topic:=/new_topic".to_string(),
    "-p".to_string(),
    "my_node:param:=42".to_string(),
];

let (ros_args, _) = parse_ros2_args(&args)?;

// Get arguments for a specific node
let node_remaps = ros_args.get_remap_rules_for_node("my_node");
let node_params = ros_args.get_params_for_node("my_node");

Parameter Files

use ros2args::parse_param_file;
use std::path::Path;

// Parse a YAML parameter file
let params = parse_param_file(Path::new("config/params.yaml"))?;

for param in params {
    if let Some(node) = &param.node_name {
        println!("[{}] {} = {}", node, param.name, param.value);
    }
}

Example YAML parameter file:

robot_controller:
  ros__parameters:
    use_sim_time: true
    max_speed: 1.5
    control_frequency: 50

# Wildcard - applies to all nodes
/**:
  ros__parameters:
    global_timeout: 5.0

# Wildcard - applies to all nodes in /navigation namespace
/navigation/*:
  ros__parameters:
    planner_frequency: 10.0

Multiple ROS Args Sections

use ros2args::parse_ros2_args;

let args = vec![
    "program".to_string(),
    "--ros-args".to_string(),
    "-r".to_string(),
    "foo:=bar".to_string(),
    "--".to_string(),
    "--user-arg".to_string(),
    "--ros-args".to_string(),
    "-p".to_string(),
    "param:=value".to_string(),
];

let (ros_args, user_args) = parse_ros2_args(&args)?;
// Both ROS args sections are merged

Supported Arguments

Name Remapping

--ros-args -r old_topic:=/new_topic              # Global remapping
--ros-args --remap my_node:old:=/new             # Node-specific remapping

Parameter Assignment

--ros-args -p use_sim_time:=true                 # Global parameter
--ros-args --param my_node:rate:=10              # Node-specific parameter

Parameter Files

--ros-args --params-file config/params.yaml

Logging Configuration

--ros-args --log-level DEBUG                     # Global log level
--ros-args --log-level rclcpp:=WARN              # Logger-specific log level
--ros-args --log-config-file log.config          # External log config
--ros-args --enable-rosout-logs                  # Enable rosout logging
--ros-args --disable-stdout-logs                 # Disable stdout logging
--ros-args --enable-external-lib-logs            # Enable external lib logging

Wildcard Patterns

Parameter files support wildcard patterns for node names:

  • * - Matches a single token delimited by /
  • ** - Matches zero or more tokens delimited by /

Examples:

# Matches all nodes
/**:
  ros__parameters:
    global_param: value

# Matches any node named 'controller' at any depth
/**/controller:
  ros__parameters:
    specific_param: value

# Matches any node directly under /robot namespace
/robot/*:
  ros__parameters:
    robot_param: value

References