ROS 2 Rust Meeting: April 2025

[jhdcs]

The next ROS 2 Rust Meeting will be 2025-04-14T14:00:00Z

The meeting room is tentatively at https://meet.google.com/rxr-pvcv-hmu, however, we’ve had technical difficulties getting rooms up and running. If the room needs to change, we will update this thread with the new info!

[maspe36]

Attendees

• Sam Privett
• Jacob Hassold
• Grey M
• Nathan Wiebe Neufeldt
• Julia Marsal
• Alberto Garcia
• Esteve Fernandez

Notes

• Grey and Nathan having some early meeting discussions about potential improvements to the actions API by leveraging some of the new async work
• Scott couldn’t attend but gave me some notes to share out
• Focusing on shipping Kilted, hoping to get some Rust support in
• Couple of PRs to get us into the Kilted Release
  • Added rosidl_rust repository by esteve · Pull Request #1674 · ros2/ros2 · GitHub
  • Added rosidl_generator_rs by esteve · Pull Request #7 · ros2/rosidl_core · GitHub
• Esteve working on making release teams
  • Add ros2_rust release team and repositories. by nuclearsandwich · Pull Request #749 · ros2-gbp/ros2-gbp-github-org · GitHub
  • Add new release team and repositories for rosidl_rust · Issue #740 · ros2-gbp/ros2-gbp-github-org · GitHub
• Esteve will make a PR for rosidl defaults and adding rosidl_rs to
  • Added rosidl_rust repository by esteve · Pull Request #1674 · ros2/ros2 · GitHub
  • Added rosidl_generator_rs by esteve · Pull Request #7 · ros2/rosidl_core · GitHub
• Sam talked about the shim crate approach
  • Dependencies of the shim need to match the deps of the “real” generated crate
  • GitHub - maspe36/ros2_rust_shim_message_example
  • Using ROS 2 Rust Message Crates without Patching · ros2-rust/ros2_rust · Discussion #471 · GitHub
• Grey talked about maybe optionally generating a patch file with a new colcon verb
• Esteve has an project he got permission from a client to release separately that would be useful to help improve message generation
  • Ideally would want to replace rosidl_generator_rs entirely
  • Use a macro in client application to generate bindings on the fly
  • GitHub - ros2-rust/ros_introspection
• Grey proposed rosidl_generator_rs to essentially generate shim crates instead of final rust code
  • lib.rs ← include generated code
  • build.rs ← macro to generate code
  • Cargo.toml ← deps
  • Allows us to do the generation through rust
• Grey Async execution PR is ready for review
  • Shared state pattern (spin-off of #427) by mxgrey · Pull Request #430 · ros2-rust/ros2_rust · GitHub
• Julia looking for PR reviews
  • Add first_rclrs_node example and update documentation links by roboticswithjulia · Pull Request #467 · ros2-rust/ros2_rust · GitHub
• High level discussion led by Grey about lifetimes vs Arcs for the async PR
• Perhaps we do a talk at roscon for ros2_rust!

[esteve]

Thanks for the minutes, @maspe36 . I’ve edited the minutes to add a link to GitHub - ros2-rust/ros_introspection, which is basically a parser for .msg in Rust, among other things.

Adding support for Rust in Kilted will have to wait until the next PMC meeting and it’ll have to be added to REP-2005, as per Revert "Added rosidl_generator_rs" by mjcarroll · Pull Request #8 · ros2/rosidl_core · GitHub