Crate ros2msg 

ROS2 Message Parser

A comprehensive Rust library for parsing ROS2 message, service, and action files. This crate provides functionality to parse .msg, .srv, and .action files according to the ROS2 IDL specification.

Features

• Message parsing: Parse .msg files with support for primitive types, arrays, and constants
• Service parsing: Parse .srv files with request/response separation
• Action parsing: Parse .action files with goal/result/feedback sections
• Comprehensive validation: Validates names, types, and values according to ROS2 standards
• Error handling: Detailed error messages for debugging parsing issues
• Serde support: Optional serialization support with the serde feature

Quick Start

use ros2msg::{parse_message_string, parse_service_string, parse_action_string};

// Parse a message
let msg_content = r#"
int32 x
int32 y
string name
"#;
let msg_spec = parse_message_string("geometry_msgs", "Point", msg_content)?;
println!("Parsed message: {}", msg_spec);

// Parse a service
let srv_content = r#"
int32 a
int32 b
---
int32 sum
"#;
let srv_spec = parse_service_string("example_msgs", "AddTwoInts", srv_content)?;
println!("Parsed service: {}", srv_spec);

// Parse an action
let action_content = r#"
int32 order
---
int32[] sequence
---
int32[] partial_sequence
"#;
let action_spec = parse_action_string("example_msgs", "Fibonacci", action_content)?;
println!("Parsed action: {}", action_spec);

Modules

• msg: ROS2 message/service/action parser (.msg, .srv, .action files)
• idl: ROS2 IDL parser (full IDL specification support)
• generator: Code generator for converting ROS2 interfaces to Rust types
• [ros2args]: ROS2 command-line arguments parser

Re-exports

pub use msg::ActionSpecification;

pub use msg::AnnotationValue;

pub use msg::Annotations;

pub use msg::BaseType;

pub use msg::Constant;

pub use msg::Field;

pub use msg::InterfaceSpecification;

pub use msg::MessageSpecification;

pub use msg::PRIMITIVE_TYPES;

pub use msg::ParseError;

pub use msg::ParseResult;

pub use msg::PrimitiveValue;

pub use msg::ServiceSpecification;

pub use msg::Type;

pub use msg::Value;

pub use msg::create_feedback_message;

pub use msg::create_service_event_message;

pub use msg::is_valid_constant_name;

pub use msg::is_valid_field_name;

pub use msg::is_valid_message_name;

pub use msg::is_valid_package_name;

pub use msg::parse_action_file;

pub use msg::parse_action_string;

pub use msg::parse_interface_file;

pub use msg::parse_message_file;

pub use msg::parse_message_string;

pub use msg::parse_primitive_value_string;

pub use msg::parse_service_file;

pub use msg::parse_service_string;

Modules

generator

Code generator for ROS2 interfaces

idl

ROS2 IDL parser

idl_adapter

MSG/SRV/Action to IDL converter

msg

ROS2 Message/Service/Action parser

Constants

VERSION

Version information