jazi007 / ros2msg_to_rs

Rust code generator from .msg and .srv of ROS2

This is used for safe_drive, a Rust bindings of ROS2.

Types (Galactic)

ROS	C	Rust
bool	bool	bool
byte	uint8_t	u8
char	char	i8
int8	int8_t	i8
uint8	uint8_t	u8
int16	int16_t	i16
uint16	uint16_t	u16
int32	int32_t	i32
uint32	uint32_t	u32
int64	int64_t	i64
uint64	uint64_t	u64
float32	float	f32
float64	double	f64
string	struct rosidl_runtime_c__String	safe_drive::msg::RosString
builtin_interfaces/Time	struct builtin_interfaces__msg__Time	safe_drive::msg::UnsafeTime (*1)
builtin_interfaces/Duration	struct builtin_interfaces__msg__Duration	safe_drive::msg::UnsafeDuration (*1)
std_msgs/*	struct std_msgs__msg__*	safe_drive::msg::std_msgs::*

• (*1): Rust's types are automatically generated by C's header files
  • Defined in safe_drive::msgs.
  • It shoud be avoided to use these types because ROS2's Time and Duration cause the year-2038 problem.

Array Types

uint8 - uint64 and int8 - int64

use safe_drive::msg;

ROS	C	Rust
int8[]	struct rosidl_runtime_c__int8__Sequence	msg::I8Seq<0>
int8[<=5]	struct rosidl_runtime_c__int8__Sequence	msg::I8Seq<5>
int8[10]	int8_t var[10]	[i8; 10]
uint8[]	struct rosidl_runtime_c__uint8__Sequence	msg::U8Seq<0>
uint8[<=5]	struct rosidl_runtime_c__uint8__Sequence	msg::U8Seq<5>
uint8[10]	uint8_t var[10]	[u8; 10]

Other integer types are similar to these types.

Floating point types

use safe_drive::msg;

ROS	C	Rust
float32[]	struct rosidl_runtime_c__float__Sequence	msg::F32Seq<0>
float32[<=5]	struct rosidl_runtime_c__float__Sequence	msg::F32Seq<5>
float32[10]	float var[10]	[f32; 10]
float64[]	struct rosidl_runtime_c__double__Sequence	msg::F64Seq<0>
float64[<=5]	struct rosidl_runtime_c__double__Sequence	msg::F64Seq<5>
float64[10]	double var[10]	[f64; 10]

Boolean type

use safe_drive::msg;

ROS	C	Rust
bool[]	struct rosidl_runtime_c__boolean__Sequence	msg::BoolSeq<0>
bool[<=5]	struct rosidl_runtime_c__boolean__Sequence	msg::BoolSeq<5>
bool[10]	bool var[10]	[bool; 10]

String type

use safe_drive::msg;

ROS	C	Rust
string[]	struct rosidl_runtime_c__String__Sequence	msg::StringSeq<0, 0>
string[<=5]	struct rosidl_runtime_c__String__Sequence	msg::StringSeq<0, 5>
string[10]	struct rosidl_runtime_c__String var[10]	[msg::RosString<0>; 10]
string<=5	struct rosidl_runtime_c__String var	msg::RosString<5>
string<=5[<=10]	struct rosidl_runtime_c__String var[10]	msg::StringSeq<5, 10>
string<=5[10]	struct rosidl_runtime_c__String var[10]	[msg::RosString<5>; 10]

builtin_interfaces

use safe_drive::msg::builtin_interfaces;

ROS	C	Rust
builtin_interfaces/Duration[]	struct builtin_interfaces__msg__Duration__Sequence	builtin_interfaces::UnsafeDurationSeq<0>
builtin_interfaces/Time[]	struct builtin_interfaces__msg__Time__Sequence	builtin_interfaces::UnsafeTimeSeq<0>
builtin_interfaces/Duration[<=5]	struct builtin_interfaces__msg__Duration__Sequence	builtin_interfaces::UnsafeDurationSeq<5>
builtin_interfaces/Time[<=5]	struct builtin_interfaces__msg__Time__Sequence	builtin_interfaces::UnsafeTimeSeq<5>
builtin_interfaces/Duration[5]	struct builtin_interfaces__msg__Duration[5]	[builtin_interfaces::UnsafeDuration; 5]
builtin_interfaces/Time[5]	struct builtin_interfaces__msg__Time[5]	[builtin_interfaces::UnsafeTime; 5]