tf_rosrust
This project is forked from arjo129 rustros_tf,MaxiMaerz rustros_tf.
- changes from original code
- fix transformations by MaxiMaerz
- contains ros msg files to run without ros installation
- fix dynamic tf handling
This is a rust port of the ROS tf library. It is intended for being used in robots to help keep track of multiple coordinate frames and is part of a larger suite of rust libraries that provide support for various robotics related functionality.
Features
So far the only the following have been implemented:
TfListener
withlookup_transform
and time traversal.TfBroadcaster
to publish/tf
I am still working on the following:
- More efficient cache data structure.
- Weed out
unwrap()
s
Supported platforms
Currently only Ubuntu 18.04 running ROS Melodic on x86_64 is tested. It should work on any linux based system with a proper ROS installation.
Getting Started
Install ROS first. On ubuntu, this can be done like so:
|
After installing ROS, you may simply add this crate as a dependency to your cargo project:
[]
= "0.0.5"
Third party software
This product includes copies and modifications of software developed by third parties:
ros_msgs
includes copies and modifications of msg packages by ros and tf2_msgs, licensed under the 2-Clause BSD License.
See the license files included in these directories for more details.
Example usage
The following example shows a simple lookup.
use TfListener;