Crate unros_core

Unros is an experimental alternative to the ROS 1 & 2 frameworks.

It is written from the ground up in Rust and seeks to replicate most of the common functionality in ROS while adding some extra features that exploit Rust’s abilities.

This crate contains the core functionality which defines what this framework offers:

1. The Node trait
2. A complete logging system
3. An asynchronous Node runtime
4. Publisher and Subscribers (analagous to ROS publisher and subscribers)
5. The Service framework (analagous to ROS actions and services)

Re-exports

• pub use anyhow;
• pub use bytes;
• pub use log;
• pub use rayon;
• pub use tokio;

Modules

• logging
• pubsub
  Publishers and Subscribers are an essential component of many frameworks in many different disciplines.
• rng
  A simple pool of pseudorandom number generators to avoid seeding new ones frequently.
• service
  Services can be thought of as a long running function whose execution has to be requested through an API, and its status can be tracked while it is running, and the return value will be provided back to the service requester.
• utils
  Several utilities that complement the Unros framework.

Macros

• default_run_options
  Creates a default RunOptions.
• setup_logging
  Sets up a locally available set of logging macros.
• super_panic
  A safe way to terminate the program with ample logged information.

Structs

• Application
  Configuration for an Application that will be ran by Unros.
• DropCheck
  A simple primitive for tracking when clones of itself have been dropped.
• NodeIntrinsics
  An object that all Nodes must store.
• ObservingDropCheck
  A similar object to DropCheck, however, none of its clones will be updated when this is dropped.
• RunOptions
  Configurations for the runtime
• RuntimeContext
  A reference to the runtime that is currently running.

Traits

• Node
  A Node just represents a long running task.

Functions

• asyncify_run
  Spawns a blocking thread (using spawn_persistent_thread) that can be awaited on.
• get_env
  Deserialize environment variables and dhe default config file into the given generic type.
• spawn_persistent_thread
  Spawns a thread that is guaranteed to run the given closure to completion.
• start_unros_runtime
  The main entry point to an Unros runtime.

Attribute Macros

• async_trait