Crystal and more

.gitignore

@@ -0,0 +1 @@
+Cargo.lock

NOTICE

@@ -1,5 +1,7 @@
 ros2_rust
 Copyright 2018 Esteve Fernandez ([email protected])
+Copyright 2019 Easymov Robotics ([email protected])
 
 This product includes software developed by
 Esteve Fernandez ([email protected])
+Gérald Lelong ([email protected])

README.md

@@ -1,65 +1,62 @@
-ROS2 for Rust
-=============
+# ROS2 for Rust
 
-Introduction
-------------
+## Overview
 
 This is a set of projects (bindings, code generator, examples and more) that enables developers to write ROS2
 applications in Rust.
 
-Features
---------
+## Status
+
+This project is still in early development stage. It's just a step toward a first class Rust support in ROS2.
+
+## Features
 
 The current set of features include:
 - Generation of all builtin ROS types
 - Support for publishers and subscriptions
 - Tunable QoS settings
 
-What's missing?
----------------
+## What's missing?
 
 Lots of things!
-- Nested types
 - An ament build type for Cargo. The current examples use CMake to install and build the binaries... and it's really ugly.
 - Component nodes
 - Clients and services
 - Tests
 - Documentation
 
-Sounds great, how can I try this out?
--------------------------------------
-
-The following steps show how to build the examples:
-
-```
-mkdir -p ~/ros2_rust_ws/src
-cd ~/ros2_rust_ws
-wget https://raw.githubusercontent.com/esteve/ros2_rust/master/ros2_rust.repos
-vcs import ~/ros2_rust_ws/src < ros2_rust.repos
-cd ~/ros2_rust_ws/src/ros2/rosidl_typesupport
-patch -p1 < ../../ros2_rust/ros2_rust/rosidl_typesupport_ros2_rust.patch
-cd ~/ros2_rust_ws
-src/ament/ament_tools/scripts/ament.py build --isolated
-```
+### Limitations
 
-Now you can just run a bunch of examples.
+- messages are deep-copied and this can be terribly inefficient for big messages like images; the current solution leverages C typesupport implementations and might benefits from a direct serialization/deserialization
+- the current solution for crates export with CMake is not very robust
+- `rclrs` interface is very limited for now and might not be so much idiomatic yet, any help and suggestion on the interface would be greatly appreciated
+- due to the current ROS2 support of non-default clients, packages containing definitions of messages used in Rust crates must be present in the current workspace; otherwise message crates generation won't be triggered
+- due to a not yet understood issue, `find_package` inclusion order matters in `CMakeLists.txt` of ROS packages containing message definitions:
+    `rosidl_default_generators` must be included before any other ROS packages containing message definitions, as in the following sample from `std_msgs`
+    ```cmake
+    find_package(rosidl_default_generators REQUIRED)
+    find_package(builtin_interfaces REQUIRED)
+    ```
 
-### Publisher and subscriber
+## Quickstart
 
-Publisher:
+### Build
 
+```bash
+source /opt/ros/crystal/setup.bash
+colcon build --symlink-install --merge-install --cmake-args -G Ninja
 ```
-. ~/ros2_rust_ws/install_isolated/local_setup.sh
 
+### Publisher
+
+```bash
+source ./install/setup.bash
 ros2 run rclrs_examples rclrs_publisher
 ```
 
-Subscriber:
-
-```
-. ~/ros2_rust_ws/install_isolated/local_setup.sh
+### Subscriber
 
+```bash
+source ./install/setup.bash
 ros2 run rclrs_examples rclrs_subscriber
 ```
-
-Enjoy!

common_interfaces/.github/ISSUE_TEMPLATE.md

@@ -0,0 +1,45 @@
+<!--
+For general questions, please ask on ROS answers: https://answers.ros.org, make sure to include at least the `ros2` tag and the rosdistro version you are running, e.g. `ardent`.
+For general design discussions, please post on discourse: https://discourse.ros.org/c/ng-ros
+Not sure if this is the right repository? Open an issue on https://github.com/ros2/ros2/issues
+For Bug report or feature requests, please fill out the relevant category below
+-->
+
+## Bug report
+
+**Required Info:**
+
+- Operating System:
+  - <!-- OS and version (e.g. Windows 10, Ubuntu 16.04...) -->
+- Installation type:
+  - <!-- binaries or from source  -->
+- Version or commit hash:
+  - <!-- Output of git rev-parse HEAD, release version, or repos file  -->
+- DDS implementation:
+  - <!-- rmw_implementation used (e.g. Fast-RTPS, RTI Connext, etc -->
+- Client library (if applicable):
+  - <!-- e.g. rclcpp, rclpy, or N/A -->
+
+#### Steps to reproduce issue
+<!-- Detailed instructions on how to reliably reproduce this issue http://sscce.org/
+``` code that can be copy-pasted is preferred ``` -->
+```
+
+```
+
+#### Expected behavior
+
+#### Actual behavior
+
+#### Additional information
+
+<!-- If you are reporting a bug delete everything below
+     If you are requesting a feature deleted everything above this line -->
+----
+## Feature request
+
+#### Feature description
+<!-- Description in a few sentences what the feature consists of and what problem it will solve -->
+
+#### Implementation considerations
+<!-- Relevant information on how the feature could be implemented and pros and cons of the different solutions -->

common_interfaces/.gitignore

@@ -0,0 +1,28 @@
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app

common_interfaces/CONTRIBUTING.md

@@ -0,0 +1,13 @@
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+~~~

common_interfaces/LICENSE

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