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:

```rust ,no_run

use roslibrust_test::ros1::*;

use roslibrust::{TopicProvider, Publish, Subscribe};

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

[tokio::main]

async fn main() -> roslibrust::Result<()> { // Experimental support in roslibrust_ros2, not yet released on crates.io // Relay messages over a native ROS2 connection using Zenoh // #[cfg(feature = "ros2")] // { // let ros = roslibrust::ros2::NodeHandle::new("http://localhost:11311", "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:

```rust,ignore
// 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.