From d03d5e612d1611ceafc315609c2fabf402af7d58 Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Fri, 15 Aug 2025 09:53:43 +0800 Subject: [PATCH 1/4] Add example for dynamic messages Signed-off-by: Luca Della Vedova --- rclrs/dynamic_pub_sub/Cargo.toml | 11 +++++++++++ rclrs/dynamic_pub_sub/src/main.rs | 23 +++++++++++++++++++++++ 2 files changed, 34 insertions(+) create mode 100644 rclrs/dynamic_pub_sub/Cargo.toml create mode 100644 rclrs/dynamic_pub_sub/src/main.rs diff --git a/rclrs/dynamic_pub_sub/Cargo.toml b/rclrs/dynamic_pub_sub/Cargo.toml new file mode 100644 index 0000000..fcf1e3f --- /dev/null +++ b/rclrs/dynamic_pub_sub/Cargo.toml @@ -0,0 +1,11 @@ +[package] +name = "dynamic_pub_sub" +version = "0.1.0" +edition = "2021" + +# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html + +[dependencies] +# TODO(luca) change this to the correct version once dynamic message support is released on crates.io +rclrs = { version = "0.4", features = ["dyn_msg"] } +anyhow = {version = "1", features = ["backtrace"]} diff --git a/rclrs/dynamic_pub_sub/src/main.rs b/rclrs/dynamic_pub_sub/src/main.rs new file mode 100644 index 0000000..939e12a --- /dev/null +++ b/rclrs/dynamic_pub_sub/src/main.rs @@ -0,0 +1,23 @@ +use anyhow::{Error, Result}; +use rclrs::*; + +fn main() -> Result<(), Error> { + let context = Context::default_from_env()?; + let mut executor = context.create_basic_executor(); + + let node = executor.create_node("dynamic_subscriber")?; + + let worker = node.create_worker::(0); + let _subscription = worker.create_dynamic_subscription( + "rclrs_example_msgs/msg/VariousTypes".try_into()?, + "topic", + move |num_messages: &mut usize, msg, _msg_info| { + *num_messages += 1; + println!("#{} | I heard: '{:#?}'", *num_messages, msg.structure()); + }, + )?; + + println!("Waiting for messages..."); + executor.spin(SpinOptions::default()).first_error()?; + Ok(()) +} From 7f8ac88cf63d118646d7d62bc786238ca5676c54 Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Fri, 21 Nov 2025 08:38:13 +0800 Subject: [PATCH 2/4] Remove dyn_msg feature, change to git dependency Signed-off-by: Luca Della Vedova --- rclrs/dynamic_pub_sub/Cargo.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rclrs/dynamic_pub_sub/Cargo.toml b/rclrs/dynamic_pub_sub/Cargo.toml index fcf1e3f..e24eed6 100644 --- a/rclrs/dynamic_pub_sub/Cargo.toml +++ b/rclrs/dynamic_pub_sub/Cargo.toml @@ -7,5 +7,5 @@ edition = "2021" [dependencies] # TODO(luca) change this to the correct version once dynamic message support is released on crates.io -rclrs = { version = "0.4", features = ["dyn_msg"] } +rclrs = { git = "https://github.com/luca-della-vedova/ros2_rust", branch = "dynamic_messages" } anyhow = {version = "1", features = ["backtrace"]} From 5816dbdf3d3a350caa08303727ede092bddc9f24 Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Fri, 21 Nov 2025 09:34:27 +0800 Subject: [PATCH 3/4] Add dynamic publisher, cleanup Cargo.toml Signed-off-by: Luca Della Vedova --- rclrs/dynamic_pub_sub/Cargo.toml | 13 +++++-- .../dynamic_pub_sub/src/dynamic_publisher.rs | 38 +++++++++++++++++++ .../src/{main.rs => dynamic_subscriber.rs} | 2 +- 3 files changed, 49 insertions(+), 4 deletions(-) create mode 100644 rclrs/dynamic_pub_sub/src/dynamic_publisher.rs rename rclrs/dynamic_pub_sub/src/{main.rs => dynamic_subscriber.rs} (91%) diff --git a/rclrs/dynamic_pub_sub/Cargo.toml b/rclrs/dynamic_pub_sub/Cargo.toml index e24eed6..6e7fc65 100644 --- a/rclrs/dynamic_pub_sub/Cargo.toml +++ b/rclrs/dynamic_pub_sub/Cargo.toml @@ -1,9 +1,16 @@ [package] -name = "dynamic_pub_sub" -version = "0.1.0" +name = "examples_rclrs_dynamic_pub_sub" +version = "0.4.1" +authors = ["Luca Della Vedova "] edition = "2021" -# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html +[[bin]] +name = "dynamic_subscriber" +path = "src/dynamic_subscriber.rs" + +[[bin]] +name = "dynamic_publisher" +path = "src/dynamic_publisher.rs" [dependencies] # TODO(luca) change this to the correct version once dynamic message support is released on crates.io diff --git a/rclrs/dynamic_pub_sub/src/dynamic_publisher.rs b/rclrs/dynamic_pub_sub/src/dynamic_publisher.rs new file mode 100644 index 0000000..6deffc2 --- /dev/null +++ b/rclrs/dynamic_pub_sub/src/dynamic_publisher.rs @@ -0,0 +1,38 @@ +use anyhow::{Error, Result}; +use rclrs::*; + +fn main() -> Result<(), Error> { + let context = Context::default_from_env()?; + let executor = context.create_basic_executor(); + + let node = executor.create_node("minimal_publisher")?; + + let message_type = MessageTypeName { + package_name: "example_interfaces".to_owned(), + type_name: "String".to_owned(), + }; + + let publisher = node.create_dynamic_publisher(message_type.clone(), "topic")?; + + let message_metadata = DynamicMessageMetadata::new(message_type)?; + + let mut publish_count: u32 = 1; + + while context.ok() { + let mut message = message_metadata.create()?; + + let Some(ValueMut::Simple(data)) = message.get_mut("data") else { + panic!("Unexpected value type, expected Simple value"); + }; + + let SimpleValueMut::String(data) = data else { + panic!("Unexpected value type, expected String"); + }; + *data = format!("Hello, world! {}", publish_count).into(); + println!("Publishing: [{}]", data); + publisher.publish(message)?; + publish_count += 1; + std::thread::sleep(std::time::Duration::from_millis(500)); + } + Ok(()) +} diff --git a/rclrs/dynamic_pub_sub/src/main.rs b/rclrs/dynamic_pub_sub/src/dynamic_subscriber.rs similarity index 91% rename from rclrs/dynamic_pub_sub/src/main.rs rename to rclrs/dynamic_pub_sub/src/dynamic_subscriber.rs index 939e12a..ed4782e 100644 --- a/rclrs/dynamic_pub_sub/src/main.rs +++ b/rclrs/dynamic_pub_sub/src/dynamic_subscriber.rs @@ -9,7 +9,7 @@ fn main() -> Result<(), Error> { let worker = node.create_worker::(0); let _subscription = worker.create_dynamic_subscription( - "rclrs_example_msgs/msg/VariousTypes".try_into()?, + "example_interfaces/msg/String".try_into()?, "topic", move |num_messages: &mut usize, msg, _msg_info| { *num_messages += 1; From 14d032e93791a01b3a59ff1e891e161affc88322 Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Fri, 21 Nov 2025 09:38:43 +0800 Subject: [PATCH 4/4] Add package.xml Signed-off-by: Luca Della Vedova --- rclrs/dynamic_pub_sub/package.xml | 22 ++++++++++++++++++++++ 1 file changed, 22 insertions(+) create mode 100644 rclrs/dynamic_pub_sub/package.xml diff --git a/rclrs/dynamic_pub_sub/package.xml b/rclrs/dynamic_pub_sub/package.xml new file mode 100644 index 0000000..195e373 --- /dev/null +++ b/rclrs/dynamic_pub_sub/package.xml @@ -0,0 +1,22 @@ + + + + examples_rclrs_dynamic_pub_sub + 0.4.1 + Package containing an example of dynamic messages publishers and subscribtions in rclrs. + Luca Della Vedova + Apache License 2.0 + + rclrs + + + example_interfaces + rclrs + + + ament_cargo + + +