https://github.com/openrr/ros-nalgebra

rosrust <-> nalgebra converter macro
https://github.com/openrr/ros-nalgebra

robotics rust

Last synced: 3 months ago
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rosrust <-> nalgebra converter macro

• Host: GitHub
• URL: https://github.com/openrr/ros-nalgebra
• Owner: openrr
• License: apache-2.0
• Created: 2020-09-15T12:48:39.000Z (over 4 years ago)
• Default Branch: main
• Last Pushed: 2024-08-01T02:50:49.000Z (6 months ago)
• Last Synced: 2024-08-17T10:05:04.329Z (5 months ago)
• Topics: robotics, rust
• Language: Rust
• Homepage:
• Size: 35.2 KB
• Stars: 3
• Watchers: 4
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

• awesome-rust-list - ros-nalgebra - nalgebra?style=social"/> : Generate code to convert geometry_msgs into nalgebra structs, for [rosrust](https://github.com/adnanademovic/rosrust). (Robot Operating System)
• awesome-rust-list - ros-nalgebra - nalgebra?style=social"/> : Generate code to convert geometry_msgs into nalgebra structs, for [rosrust](https://github.com/adnanademovic/rosrust). (Robot Operating System)

README

        
# ros-nalgebra

[![Build Status](https://img.shields.io/github/actions/workflow/status/openrr/ros-nalgebra/ci.yml?branch=main&logo=github)](https://github.com/openrr/ros-nalgebra/actions) [![crates.io](https://img.shields.io/crates/v/ros-nalgebra.svg?logo=rust)](https://crates.io/crates/ros-nalgebra) [![docs](https://docs.rs/ros-nalgebra/badge.svg)](https://docs.rs/ros-nalgebra) [![discord](https://dcbadge.vercel.app/api/server/8DAFFKc88B?style=flat)](https://discord.gg/8DAFFKc88B)

Generate code to convert `geometry_msgs` into nalgebra structs, for [rosrust](https://github.com/adnanademovic/rosrust).

## Pre-requirements & dependencies

* [ROS](https://ros.org)

* [Rust](https://rust-lang.org)

* [rosrust](https://github.com/adnanademovic/rosrust)

* [nalgebra](https://nalgebra.org/)

## How to use

### Easy usage: `ros_nalgebra::rosmsg_include!()`

Use `ros_nalgebra::rosmsg_include` instead of `rosrust::rosmsg_include` in your code.

```rust

use nalgebra as na;

mod msg {

    ros_nalgebra::rosmsg_include!(nav_msgs / Odometry);

}

fn main() {

    let mut odom_msg = msg::nav_msgs::Odometry::default();

    odom_msg.pose.pose.position.x = 1.0;

    odom_msg.pose.pose.position.y = -1.0;

    odom_msg.pose.pose.position.z = 2.0;

    odom_msg.pose.pose.orientation.x = 0.0;

    odom_msg.pose.pose.orientation.y = 0.0;

    odom_msg.pose.pose.orientation.z = 0.0;

    odom_msg.pose.pose.orientation.w = 1.0;

    // convert into nalgebra::Isometry by `from()`

    let pose = na::Isometry3::from(odom_msg.pose.pose);

    println!("{pose}");

    let mut pose2 = pose.clone();

    pose2.translation.vector.x = -5.0;

    // convert into ROS msg using `into()`

    let pose_msg: msg::geometry_msgs::Pose = pose2.into();

    println!("{pose_msg:?}");

}

```

#### Automatically defined messages by `ros_nalgebra::rosmsg_include!()`

Below messages are automatically included by `ros_nalgebra::rosmsg_include!()`. Do not include them in your code.

```text

geometry_msgs/Point,

geometry_msgs/Pose,

geometry_msgs/Quaternion,

geometry_msgs/Transform,

geometry_msgs/Vector3,

```

## Other usage: `ros_nalgebra!() and ros_nalgebra_msg!()`

If some messages are included already (for example in other crate), you can use `ros_nalgebra_msg!()`. The arguments are the rust namespace of the `geometry_msgs` (example:`msg`) and the message type (example: `Pose` for `geometry_msgs/Pose`, `Point` for `geometry_msgs/Point`).

### Example

In `some_other_crate`,

```rust

mod msg {

    rosrust::rosmsg_include!(geometry_msgs/Point);

}

```

Then you can use `ros_nalgebra::ros_nalgebra_msg!()` in your crate.

```rust,ignore

// generate conversion code only for `geometry_msgs/Point` which is defined in `some_other_crate::msg`.

ros_nalgebra::ros_nalgebra_msg!(some_other_crate::msg, Point);

```

## Supported conversions

See lib.rs.

## TODO

Handle dependencies.

## `OpenRR` Community

[Here](https://discord.gg/8DAFFKc88B) is a discord server for `OpenRR` users and developers.