{"id":13800465,"url":"https://github.com/juaruipav/rclgo","last_synced_at":"2025-05-13T09:31:39.683Z","repository":{"id":51226613,"uuid":"155067127","full_name":"juaruipav/rclgo","owner":"juaruipav","description":"A go wrapper for the ROS2 Core Libraries (RCL). ","archived":false,"fork":false,"pushed_at":"2020-05-01T11:03:29.000Z","size":291,"stargazers_count":54,"open_issues_count":1,"forks_count":13,"subscribers_count":2,"default_branch":"master","last_synced_at":"2024-11-18T15:53:45.591Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"Go","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/juaruipav.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE.md","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2018-10-28T12:10:38.000Z","updated_at":"2024-07-24T03:48:36.000Z","dependencies_parsed_at":"2022-09-09T02:50:27.763Z","dependency_job_id":null,"html_url":"https://github.com/juaruipav/rclgo","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/juaruipav%2Frclgo","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/juaruipav%2Frclgo/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/juaruipav%2Frclgo/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/juaruipav%2Frclgo/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/juaruipav","download_url":"https://codeload.github.com/juaruipav/rclgo/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":253913143,"owners_count":21983265,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-08-04T00:01:12.859Z","updated_at":"2025-05-13T09:31:38.411Z","avatar_url":"https://github.com/juaruipav.png","language":"Go","funding_links":[],"categories":["Packages"],"sub_categories":["Client libraries"],"readme":"# rclgo\n\nThe goal of this repository is to create a wrapper using cgo for the C library developed for the upcoming ROS2 using the ROS Client Libraries API (RCL)\n\n**ADVICE**: This project is **under development**. It is not totally functional yet.\n\n## Available functionality\n\nSome basic behaviors such as creating a Node, a Publisher or a Subscriber have been already implemented. For messages, only the std_msgs/String has been implemented by now. In principle, it is intended to generate custom messages with C generator and bind our own types later in go. For the generation of messages, templates and go generate will be used.\n\n![snapshot](ros2go.gif)\n\n## Repository structure\nFollowing the structure of the [RCL API](http://docs.ros2.org/latest/api/rcl/index.html), the library in go has been organized following the ROS2 concepts. Each concept correspond to a go package.\n\nThe goal of this repository is to be as closed as possible to the official C API. When binding is complete, a good option would be to bind this rclgo library with more native/complex behavior (or even with new types/interfaces)\n\n## Running the example\nRecently, a working Dockerfile and a docker-compose file have been added to the repo. To get the previous example working, just run:\n\n```\ndocker-compose build \u0026\u0026 docker-compose up \n```\n\nSince containers are using the bridge mode (172.17.0.1 virtual subnet by docker), if we have ros2 already install in the host, just open a terminal and check the nodes and topics:\n\n```\nros2 topic list\n```\n\n## Pre-requisites\n\ncgo is used for the library wrapping. Temporarly, it is assumed that you have ros bouncy installed in:\n\n```\n/opt/ros/bouncy\n```\n\nThis is a temporarly solution and it will be changed in the future. A more elegant solution would be to use an enviromental variable to point the library to the proper location.\n\n\n\n\n\n\n\n\n\n\n\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fjuaruipav%2Frclgo","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fjuaruipav%2Frclgo","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fjuaruipav%2Frclgo/lists"}