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https://github.com/juaruipav/rclgo
A go wrapper for the ROS2 Core Libraries (RCL).
https://github.com/juaruipav/rclgo
Last synced: 24 days ago
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A go wrapper for the ROS2 Core Libraries (RCL).
- Host: GitHub
- URL: https://github.com/juaruipav/rclgo
- Owner: juaruipav
- License: apache-2.0
- Created: 2018-10-28T12:10:38.000Z (about 6 years ago)
- Default Branch: master
- Last Pushed: 2020-05-01T11:03:29.000Z (over 4 years ago)
- Last Synced: 2024-08-04T00:05:07.778Z (4 months ago)
- Language: Go
- Homepage:
- Size: 284 KB
- Stars: 54
- Watchers: 2
- Forks: 13
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE.md
Awesome Lists containing this project
README
# rclgo
The 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)
**ADVICE**: This project is **under development**. It is not totally functional yet.
## Available functionality
Some 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.
## Repository structure
Following 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.
The 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)
## Running the example
Recently, a working Dockerfile and a docker-compose file have been added to the repo. To get the previous example working, just run:
```
docker-compose build && docker-compose up
```
Since 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:
```
ros2 topic list
```
## Pre-requisites
cgo is used for the library wrapping. Temporarly, it is assumed that you have ros bouncy installed in:
```
/opt/ros/bouncy
```
This 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.