Crate natnet_zenoh 

Bridge OptiTrack NatNet motion capture to Zenoh and ROS 2 (rmw_zenoh).

Start with the README for the natnet_zenoh binary. For library use:

• Configure and validate with config::Config::load, config::Config::read, config::Config::default_toml and config::Config::validate.
• Open a session with bridge::open_context, start a source with bridge::start_source, then construct and run the bridge with bridge::Bridge::new and bridge::Bridge::run.
• Use source for live, replay and synthetic NatNet sources; mocap for model, frame conventions, timing and velocity; and ros for ROS 2 nodes over rmw_zenoh, without a ROS install.

Modules

bridge

The bridge: source events in, zenoh and ROS 2 outputs out.

config

The bridge configuration file (TOML). Every field has a default, so an empty file is valid; natnet_zenoh config prints the defaults.

mocap

Motion-capture model: typed NatNet sections, model definitions, frame conventions, timestamps and derived quantities.

ros

A pure-Rust ROS 2 client layer that speaks the rmw_zenoh_cpp protocol.

source

NatNet data sources: a live Motive server, a recorded capture, or a synthetic generator. Each runs on its own thread and delivers SourceEvents over a bounded channel.

Macros

ros_message

Declares a ROS 2 message struct with its CDR encoding and description.