Crate zerodds_spatial_ros2 

SpatialDDS <-> ROS 2 semantic mapping for ZeroDDS.

Crate zerodds-spatial-ros2. Safety classification: STANDARD.

This is the ROS 2 carrier for the SpatialDDS profile: it converts the SpatialDDS types to and from the ROS 2 common-interfaces messages so a ZeroDDS node and a native ROS 2 node share a world model over standard ROS topics. The other SpatialDDS carriers (MQTT / WebSocket / MCAP) need no profile code because they are type-agnostic; ROS 2 is the one that needs a semantic map, because ROS and SpatialDDS name and shape the same concepts differently (geometry_msgs/sensor_msgs/vision_msgs/tf2_msgs/ geographic_msgs).

Both sides are ZeroDDS-generated: the ROS 2 message types come from the vendored [idl/ros_msgs.idl] run through ZeroDDS’ own IDL->Rust codegen (the same pipeline that generates the SpatialDDS types), so a converted value carries the ROS 2 XCDR wire layout directly.

Mappings (convert)

SpatialDDS	ROS 2
spatial::core::FramedPose	geometry_msgs/PoseStamped
spatial::core::FrameTransform	geometry_msgs/TransformStamped, tf2_msgs/TFMessage
spatial::core::GeoPose	geographic_msgs/GeoPoseStamped
spatial::semantics::Detection3D	vision_msgs/Detection3D
spatial::semantics::Detection3DSet	vision_msgs/Detection3DArray
spatial::vio::ImuSample	sensor_msgs/Imu

Each conversion is bidirectional (*_to_ros / *_from_ros), with From impls for the SpatialDDS->ROS direction. Field-fidelity notes (what each map drops) are on convert.

Naming (naming)

naming::RosMessage gives the rmw-compatible DDS topic (rt/…) and type name (pkg::msg::dds_::Type_) so a converted value publishes on the topic a native ROS 2 subscriber is listening on.

Modules

builtin_interfaces

The IDL module builtin_interfaces.

convert

Semantic conversions between the SpatialDDS profile types and the ROS 2 common-interfaces messages.

geographic_msgs

The IDL module geographic_msgs.

geometry_msgs

The IDL module geometry_msgs.

naming

rmw-compatible DDS topic + type naming for the mapped ROS 2 messages.

sensor_msgs

The IDL module sensor_msgs.

std_msgs

The IDL module std_msgs.

tf2_msgs

The IDL module tf2_msgs.

vision_msgs

The IDL module vision_msgs.