Crate ros2args 

ROS2 Command-Line Arguments Parser

This module provides a comprehensive parser for ROS2 command-line arguments based on the ROS2 Command Line Arguments specification.

Features

• Name remapping: Parse --remap / -r arguments for topic/service/node remapping
• Parameter assignment: Parse --param / -p arguments for single parameter assignments
• Parameter files: Parse --params-file arguments and load YAML parameter files
• Logging configuration: Parse log levels, log config files, and logging output flags
• Enclave assignment: Parse --enclave / -e arguments for security enclaves
• Wildcard support: Support wildcard patterns in parameter files (*, **)
• Multiple ROS args sections: Handle multiple --ros-args sections in the same command line

Examples

Basic Usage

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)?;

assert_eq!(ros_args.remap_rules.len(), 1);
assert_eq!(ros_args.param_assignments.len(), 1);
assert_eq!(ros_args.log_levels.len(), 1);

Node-Specific Arguments

use ros2args::parse_ros2_args;

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

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

// Get remapping rules for a specific node
let node_remaps = ros_args.get_remap_rules_for_node("my_node");
assert_eq!(node_remaps.len(), 1);

// Get parameters for a specific node
let node_params = ros_args.get_params_for_node("my_node")?;
assert_eq!(node_params.len(), 1);

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 {
    // Access typed values
    if let Some(b) = param.as_bool() {
        println!("Node: {:?}, Param: {} (bool) = {}", param.node_name, param.name, b);
    } else if let Some(i) = param.as_i64() {
        println!("Node: {:?}, Param: {} (int) = {}", param.node_name, param.name, i);
    }
}

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 sections are merged
assert_eq!(ros_args.remap_rules.len(), 1);
assert_eq!(ros_args.param_assignments.len(), 1);
assert_eq!(user_args, vec!["program", "--user-arg"]);

Re-exports

pub use names::NameKind;

pub use names::build_node_fqn;

pub use names::expand_topic_name;

pub use names::expand_topic_name_with_fqn;

pub use names::extract_base_name;

pub use names::extract_namespace;

pub use names::is_absolute_name;

pub use names::is_hidden_name;

pub use names::is_private_name;

pub use names::is_relative_name;

pub use names::is_valid_name_char;

pub use names::is_valid_topic_char;

pub use names::validate_fully_qualified_name;

pub use names::validate_namespace;

pub use names::validate_node_name;

pub use names::validate_substitution;

pub use names::validate_topic_name;

Modules

names

ROS2 naming validation for nodes and topics

Structs

LogLevelAssignment

Represents a log level assignment

LoggingOutputConfig

Represents logging output configuration flags

ParamAssignment

Represents a parameter assignment

RemapRule

Represents a name remapping rule

Ros2Args

Complete set of parsed ROS2 command-line arguments

Enums

LogLevel

Log levels supported by ROS2

Ros2ArgsError

Errors that can occur during ROS2 argument parsing

Functions

match_wildcard_pattern

Match a node name against a wildcard pattern

parse_param_file

Parse a ROS2 parameter YAML file

parse_ros2_args

Parse ROS2 arguments from command-line arguments

Type Aliases

Ros2ArgsResult

Result type for ROS2 argument parsing operations