ratpub

A simple and deterministic Pub/Sub implementation with Minot primitives.

Part of the minot family of crates.

[dependencies]
ratpub = "0.2.1"
tokio = { version = "1", features = ["full"] }

Since you probably want to use existing ROS2 message definitions, you can also add the following crate which is auto-generated from the Jazzy release.

[dependencies]
ros2-interfaces-jazzy-rkyv = { version = "0.0.5", features = [
  "std_msgs", # add more here
] }

Learn more on how to use it in your Code by visiting the Minot docs.

Running the Examples

First, start the coordinator:

cargo run --bin minot-coord

Then run the publisher and subscriber in separate terminals:

# Terminal 2
cargo run --example pub

# Terminal 3
cargo run --example sub

If you have multiple Minot networks on the same physical network, use the MINOT_DOMAIN_ID environment variable to prevent them from connecting to each other.