rclgo

module

v0.0.0-...-d004830 Latest Latest Go to latest Published: Nov 24, 2021 License: Apache-2.0

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Repository

github.com/mehmetkillioglu/rclgo

Links

Open Source Insights

README ¶

rclgo the ROS2 client library Golang wrapper

Installation

$ go get github.com/mehmetkillioglu/rclgo
$ go install github.com/mehmetkillioglu/rclgo/cmd/rclgo
$ go install github.com/mehmetkillioglu/rclgo/cmd/rclgo-gen
$ rclgo-gen generate

Commandline client

Mimics the official rcl-command

rclgo topic echo /topic/name std_msgs.ColorRGBA

ROS2 message converter

rclgo expects a Golang-implementation of all the ROS2 messages to exists. To use rclgo with your set of ROS2 plugins and modules, you need to generate the Golang-bindings before first use.

rclgo-gen generate /opt/ros/galactic/share/px4_msgs/msg/AdcReport.msg

Usage

See the rclgo commandline client source code:

Subscription Publisher

Directories ¶

Path	Synopsis
cmd
rclgo-gen
rclgo-gen/cmd
rclgo Module
internal
msgs/builtin_interfaces/msg
msgs/example_interfaces/msg
msgs/example_interfaces/srv
msgs/geometry_msgs/msg
msgs/sensor_msgs/msg
msgs/sensor_msgs/srv
msgs/std_msgs/msg
msgs/std_srvs/srv
msgs/test_msgs/msg
msgs/test_msgs/srv
pkg
datagenerator
gogen Generates Golang types from ROS2 message definitions	Generates Golang types from ROS2 message definitions
rclgo Deliberate trial and error have been conducted in finding the best way of interfacing with rcl or rclc.	Deliberate trial and error have been conducted in finding the best way of interfacing with rcl or rclc.
rclgo/primitives These types implement the rosidl_runtime_c primitive types handling semantics.	These types implement the rosidl_runtime_c primitive types handling semantics.
rclgo/typemap
rclgo/types
test
gogen Fixtures here represent some easier data structures to compile and test.	Fixtures here represent some easier data structures to compile and test.

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