RosLibRust

Documentation about the crate is on docs.rs, extended guides can be found on roslibrust.github.io

An async rust library for interfacing with ROS1 and ROS2, built on Tokio.

• One Trait Based API - Write your behavior once and use it with any backend! Select the backend you want to use at compile time.
• Pure Rust - No ROS1 or ROS2 dependencies or installation required! Compile time message generation from .msg/.srv files.

This allows writing generic behaviors like:

use roslibrust_test::ros1::*; // Provides std_msgs::String
use roslibrust::{TopicProvider, Publish, Subscribe};

async fn relay<T: TopicProvider>(ros: T) -> roslibrust::Result<()> {
    let mut subscriber = ros.subscribe::<std_msgs::String>("/in").await?;
    let mut publisher = ros.advertise::<std_msgs::String>("/out").await?;
    while let Ok(msg) = subscriber.next().await {
        println!("Got message: {}", msg.data);
        publisher.publish(&msg).await?;
    }
    Ok(())
}

#[tokio::main]
async fn main() -> Result<(), Box<dyn std::error::Error + Send + Sync>> {
    // Relay messages over a native ROS 2 Kilted-or-newer connection using rmw_zenoh.
    #[cfg(feature = "hiroz")]
    {
        use roslibrust::hiroz::Builder;
        let ctx = roslibrust::hiroz::context::ZContextBuilder::default()
            .with_domain_id(0)
            .with_connect_endpoints(["tcp/127.0.0.1:7447"])
            .build()?;
        let ros = roslibrust::hiroz::ZenohClient::new(&ctx, "relay").await?;
        relay(ros).await?;
    }

    // Relay messages over a native ROS1 connection via TCPROS
    #[cfg(feature = "ros1")]
    {
    let ros = roslibrust::ros1::NodeHandle::new("http://localhost:11311", "relay").await?;
    relay(ros).await?;
    }

    // Relay messages over a zenoh connection compatible with zenoh-ros1-plugin / zenoh-ros1-bridge
    #[cfg(feature = "zenoh")]
    {
    let ros = roslibrust::zenoh::ZenohClient::new(zenoh::open(zenoh::Config::default()).await.unwrap());
    relay(ros).await?;
    }

    // Relay messages over a rosbridge_server connection with either ROS1 or ROS2!
    #[cfg(feature = "rosbridge")]
    {
    let ros = roslibrust::rosbridge::ClientHandle::new("ws://localhost:9090").await?;
    relay(ros).await?;
    }

    // Relay messages over a mock ROS connection for testing
    #[cfg(feature = "mock")]
    {
    let ros = roslibrust::mock::MockRos::new();
    relay(ros).await?;
    }

    Ok(())
}

All of this is backed by common traits for ROS messages, topics, and services. roslibrust_codegen provides generation of Rust types from both ROS1 and ROS2 .msg/.srv files and roslibrust_codegen_macro provides a convenient macro for generating these types:

// Will generate types from all packages in ROS_PACKAGE_PATH, AMENT_PREFIX_PATH, and COLCON_PREFIX_PATH
roslibrust_codegen_macro::generate_ros_types_with_env!();

If you want to see what the generated code looks like checkout our generated messages in our test crate. While the macro is useful for getting started, we recommend using roslibrust_codegen with a build.rs as shown in example_package. This allows cargo to know when message files are edited and automatically re-generate the code.

Getting Started / Examples

• Checkout the Quick Getting Started Guide for a brief guide on how to get started with RosLibRust.
• Checkout the Extended Getting Started Guide for a more in depth guide on how to get started with RosLibRust.
• Examples can be found in examples.

Contributing

Contribution through reporting of issues encountered and implementation in PRs is welcome! Before landing a large PR with lots of code implemented, please open an issue if there isn't a relevant one already available and chat with a maintainer to make sure the design fits well with all supported platforms and any in-progress implementation efforts.

We uphold the rust lang Code of Conduct.

Minimum Supported Rust Version / MSRV

MSRV is currently 1.90.