pamoja_ros2/

lib.rs

#![cfg_attr(not(any(test, feature = "bridge")), no_std)]

//! 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));
//! ```

extern crate alloc;

pub mod key;
pub mod msg;
pub mod name;
pub mod typehash;

#[cfg(feature = "bridge")]
pub mod bridge;