tf_rosrust

This project is forked from arjo129 rustrostf,MaxiMaerz rustrostf.

• 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:

bash 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:

toml [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.

```rust 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();
}

} ```