michibab / tf_rosrust

A port of ROS's TF library to rust

tf_rosrust

This project is forked from arjo129 rustros_tf,MaxiMaerz rustros_tf.

• changes from original code
  • fix transformations by MaxiMaerz
  • contains ros msg files to run without ros installation
  • fix dynamic tf handling

This is a rust port of the ROS tf library. 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.
• TfBroadcaster to publish /tf

I am still working on the following:

• More efficient cache data structure.
• 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 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

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

[dependencies]
tf_rosrust = "0.0.5"

Third party software

This product includes copies and modifications of software developed by third parties:

• ros_msgs includes copies and modifications of msg packages by ros and tf2_msgs, licensed under the 2-Clause BSD License.

See the license files included in these directories for more details.

Example usage

The following example shows a simple lookup.

use tf_rosrust::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();
    }
}