ROS2 Interfaces for Rust

This repository contains Rust structs for all interfaces (i.e., messages and services) that are listed as releases on the ROS Index for Iron.

The interfaces implement traits from the ros2-client library and can be used easily in conjunction.

Every package is a separate feature for this crate, so you can cherry-pick the interfaces you need. Example are std_msgs, geometry_msgs and nav2_msgs.

Usage

Add this crate to your Cargo.toml:

[dependencies]
ros2-interfaces-iron = { version = "*", features = ["std_msgs"] }  # replace with the latest version and features you need

Then you can use the interfaces in your code:

use ros2_client::{Context, MessageTypeName, Name, NodeName, NodeOptions};
use ros2_interfaces_iron::std_msgs;

fn test_publisher() {
    let context = Context::new().unwrap();
    let mut node = context
        .new_node(
            NodeName::new("/rustdds", "rustdds_listener").unwrap(),
            NodeOptions::new().enable_rosout(true),
        )
        .unwrap();

    let topic = node
        .create_topic(
            &Name::new("/","topic").unwrap(),
            MessageTypeName::new("std_msgs", "String"),
            &ros2_client::DEFAULT_PUBLISHER_QOS,
        )
        .unwrap();

    let publisher = node
        .create_publisher::<std_msgs::msg::String>(&topic, None)
        .unwrap();


    let message = std_msgs::msg::String {
        data: "Hello, world!".to_string(),
    };

    publisher.publish(message).unwrap();
}

Known Issues

Disabled Interfaces

The following packages (and thereby: features) do not compile due to incompatible or missing interface definitions:

• depthai_ros_msgs
• mrpt_msgs
• mrpt_nav_interfaces
• rosbag2_test_msgdefs
• sick_scan_xd
• ublox_msgs

Therefore, the features have been commented out in the Cargo.toml file.