https://github.com/rerun-io/cpp-example-ros2-bridge

An example implementation of a ROS 2 to Rerun bridge
https://github.com/rerun-io/cpp-example-ros2-bridge

cpp ros2 visualization

Last synced: 7 days ago
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An example implementation of a ROS 2 to Rerun bridge

• Host: GitHub
• URL: https://github.com/rerun-io/cpp-example-ros2-bridge
• Owner: rerun-io
• License: apache-2.0
• Created: 2024-04-11T08:02:02.000Z (9 months ago)
• Default Branch: main
• Last Pushed: 2024-10-17T10:06:29.000Z (3 months ago)
• Last Synced: 2025-01-01T22:07:58.548Z (14 days ago)
• Topics: cpp, ros2, visualization
• Language: C++
• Homepage:
• Size: 450 KB
• Stars: 71
• Watchers: 6
• Forks: 7
• Open Issues: 9
• Metadata Files:
  • Readme: README.md
  • License: LICENSE-APACHE
  • Code of conduct: CODE_OF_CONDUCT.md

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README

        
# C++ Example: ROS 2 Bridge

This is an example that shows how to use Rerun's C++ API to log and visualize [ROS 2](https://docs.ros.org/en/humble/index.html) messages (for the ROS 1 version, see [here](https://github.com/rerun-io/cpp-example-ros-bridge)). 

It works by subscribing to all topics with supported types, converting the messages, and logging the data to Rerun. It further allows to remap topic names to specific entity paths, specify additional timeless transforms, and pinhole parameters via an external config file. See the [launch](https://github.com/rerun-io/cpp-example-ros2-bridge/tree/main/rerun_bridge/launch) directory for usage examples.

| CARLA | Go2 |

| --- | --- |

| ![carla](https://github.com/rerun-io/cpp-example-ros2-bridge/assets/9785832/f4e91f4b-18b4-4890-b2cc-ff00880ca65c) | ![go2](https://github.com/rerun-io/cpp-example-ros2-bridge/assets/9785832/2856b5af-d02b-426b-8e23-2cf6f7c2bfd8) |

This example is built for ROS 2. For more ROS examples, also check out the [ROS 2 example](https://www.rerun.io/docs/howto/ros2-nav-turtlebot), the [URDF data-loader](https://github.com/rerun-io/rerun-loader-python-example-urdf), and the [ROS 1 bridge](https://github.com/rerun-io/cpp-example-ros-bridge).

> NOTE: Currently only some of the most common messages are supported (see https://github.com/rerun-io/cpp-example-ros2-bridge/issues/4 for an overview). However, extending to other messages should be straightforward.

## Compile and run using pixi

The easiest way to get started is to install [pixi](https://prefix.dev/docs/pixi/overview).

The pixi environment described in `pixi.toml` contains all required dependencies, including the example data, and the Rerun viewer. To run the [CARLA](https://carla.org/) example use

```shell

pixi run carla_example

```

and to run the [Go2](https://www.unitree.com/go2/) example use

```shell

pixi run go2_example

```

## Compile and run using existing ROS environment

If you have an existing ROS workspace and would like to add the Rerun node to it, clone this repository into the workspace's `src` directory and build the workspace.

To manually run the CARLA example, first download the [CARLA bag](https://storage.googleapis.com/rerun-example-datasets/carla_ros2.zip) or [Go2 bag](https://storage.googleapis.com/rerun-example-datasets/go2_ros2.zip) and extract it to the `share` directory of the `rerun_bridge` package (typically located in `{workspace_dir}/install/rerun_bridge/share/rerun_bridge`). Then, run the corresponding launch file:

```shell

ros2 launch rerun_bridge {carla,go2}_example.launch

```

## Development

Prior to opening a pull request, run `pixi run lint-typos && pixi run cpp-fmt` to check for typos and format the C++ code.

You can update this repository with the latest changes from the [template](https://github.com/rerun-io/rerun_template/) by running:

* `scripts/template_update.py update --languages cpp`

## Acknowledgements

This code uses the [turbo colormap lookup table](https://gist.github.com/mikhailov-work/6a308c20e494d9e0ccc29036b28faa7a) by [Anton Mikhailov](https://github.com/mikhailov-work).