ros2_message

[!WARNING] This crate is not extensively tested yet and there is a good chance that you will discover issues. If you do please create a GitHub Issue

ros2_message is a utility library for handling anything related to ROS2 .msg and .srv files in Rust. It's primary focus is dynamically parsing and decoding ROS2 messages. The most common usecase for this is the mcap file format. For more information take a look at the Msg and DynamicMsg structs.

The most common use case for this is reading out MCAP files, especially in a environment where installing ROS2 is not an option. For more information about that have a look at the the mcap_reading example in the examples folder.

Implementation status

• Implementing the full CDR spec

  • Little endian plain CDR is supported
  • Big endian plain CDR
  • PL CDR & CDR2

• Extensive testing for different encoded messages

Resources

• ROS2 documentation
• Interface documentation
• CDR Spec, CDR types are specified under 7.4.3.4

Foxglove .msg file parsing implemenation

• foxglove/message-definition

Foxglove dynamic decoding implementation

• ROS2 specific deserialization
• CDR implementation
• Overview of all the CDR encapsulation kinds
• ROS2 Message implementation