https://github.com/arjo129/rustros_tf

A port of ROS's TF library to rust
https://github.com/arjo129/rustros_tf

robots ros ros-melodic ros-tf-library rust rustros-tf ubuntu

Last synced: 2 months ago
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A port of ROS's TF library to rust

• Host: GitHub
• URL: https://github.com/arjo129/rustros_tf
• Owner: arjo129
• Created: 2020-04-29T02:09:06.000Z (over 4 years ago)
• Default Branch: master
• Last Pushed: 2022-07-14T03:05:59.000Z (over 2 years ago)
• Last Synced: 2024-09-25T16:09:40.685Z (4 months ago)
• Topics: robots, ros, ros-melodic, ros-tf-library, rust, rustros-tf, ubuntu
• Language: Rust
• Size: 22.7 MB
• Stars: 16
• Watchers: 4
• Forks: 11
• Open Issues: 3
• Metadata Files:
  • Readme: readme.md

Awesome Lists containing this project

• awesome-rust-list - rustros_tf
• awesome-rust-list - rustros_tf

README

        
# rustros_tf

[![Build Status](https://travis-ci.com/arjo129/rustros_tf.svg?branch=master)](https://travis-ci.com/arjo129/rustros_tf) | [API Documentation](https://arjo129.github.io/rustros_tf/rustros_tf/index.html) | [crates.io](https://crates.io/crates/rustros_tf)

This is a rust port of the [ROS tf library](http://wiki.ros.org/tf). It is intended for being used in robots to help keep track of multiple coordinate frames and is part of a larger suite of rust libraries that provide support for various robotics related functionality.

## Features

So far the only the following have been implemented:

* `TfListener` with `lookup_transform` and time traversal. 

I am still working on the following:

* Integration with point clouds. 

* Integration with image geometry.

* Removal of `ndarray` as a dependency.

* Adding `nalgebra` related conversion methods. 

* More efficient cache data structure.

* A `TfBroadcaster` struct.

* Weed out `unwrap()`s

## Supported platforms

Currently only Ubuntu 18.04 running ROS Melodic on x86_64 is tested. It should work on any linux based system with a proper ROS installation.

## Getting Started

Install [ROS](http://wiki.ros.org/melodic/Installation) first. On ubuntu, this can be done like so:

```

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -

sudo apt update

sudo apt install ros-melodic-desktop

```

You will also need a fortran compiler.

```

sudo apt install gfortran

```

After installing ROS, you may simply add this crate as a dependency to your cargo project:

```

[dependencies]

rustros_tf = "0.1.0"

```

# Example usage

The following example shows a simple lookup. 

```

extern crate rosrust;

extern crate rosrust_msg;

extern crate rustros_tf;

use rustros_tf::TfListener;

fn main() {

    rosrust::init("listener");

    let listener = TfListener::new();

    

    let rate = rosrust::rate(1.0);

    while rosrust::is_ok() {

        let tf = listener.lookup_transform("camera", "base_link", rosrust::Time::new());

        println!("{:?}", tf);

        rate.sleep();

    }

}

```