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:
# use roslibrust_test::ros1::*; use roslibrust::{TopicProvider, Publish, Subscribe}; async fn relay<T: TopicProvider>(ros: T) -> roslibrust::Result<()> { let mut subscriber = ros.subscribe::<std_msgs::String>("in").await?; let mut publisher = ros.advertise::<std_msgs::String>("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<()> { // 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:
// Will generate types from all packages in ROS_PACKAGE_PATH roslibrust_codegen_macro::find_and_generate_ros_messages!();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.
- 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.
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.
MSRV is currently 1.85 to support edition 2024.