rosrustext_core

ROS-agnostic lifecycle and parameter semantics for ROS 2, implemented in Rust.

rosrustext_core defines the canonical lifecycle state machine and parameter semantics used by the rosrustext adapter crates.
It contains no ROS messages, no executors, and no transport-specific code.

This crate is intended to be:

• deterministic
• testable without ROS
• reusable across multiple Rust ROS transports

Scope:

• Lifecycle state machine semantics (implemented)
• Parameter store semantics (implemented)
• Action state machine semantics (planned)
• Executor semantics (planned)

What this crate provides

• ROS 2 lifecycle primary and transition states
• Canonical transition graph and validation
• Busy-state rejection semantics
• Error and ErrorProcessing handling
• Activation gating semantics
• Parameter value/descriptor types and change records
• Deterministic unit tests for lifecycle semantics

This crate answers the questions:

"What does a ROS 2 lifecycle mean, independent of how it is transported?"

"What do ROS 2 parameters mean, independent of how they are transported?"

What this crate does not do

• ❌ No ROS messages
• ❌ No executors or async runtimes
• ❌ No transport assumptions (rosbridge, rclrs, etc.)
• ❌ No CLI or node abstractions

Those concerns live in adapter crates.

How it is used

rosrustext_core is consumed by adapter crates such as:

• rosrustext_roslibrust
  (roslibrust + rosbridge adapter)
  https://crates.io/crates/rosrustext_roslibrust

• rosrustext_rosrs
  (native rclrs adapter)
  https://crates.io/crates/rosrustext_rosrs

All adapters project the same semantic truth into ROS-facing services and topics.

Testing

This crate is fully testable without ROS:

cargo test -p rosrustext_core