ROS 2 Rust Meeting - May 13th

The next ROS 2 Rust Meeting will be 2024-05-13T13:00:00Z

The meeting room is tentatively at https://meet.google.com/xrf-pzbg-mtj , 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!

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Some notes I took during the meeting. Apologies, not the greatest notes ever but its something :slight_smile:

Attendees

  • Jacob Hassold
  • Sam Privett
  • Nathan Wiebe Neufeldt
  • Luca Della Vedova
  • Guela Kais

Agenda Items


Message Discussion

  • I know cargo bakes in semver, but all of our ros2 message packages (at least upstream) do have a semver number. Maybe it actually would be easiest if we aimed to just upload auto generated versions of these crates to crates.io?

    • Not sure if you’re able to start with letters in your version number. I know you can have them after a number (i.e. 1.0.0-alpha)
  • The abi_stable seems to provide some Rust-to-Rust FFI plugin system (I think its dynamically linking)

    • If memory serves, this is more similar to what we do for messages in other client libraries.
  • More options if we restrict rust packages in an overlay to be in a single workspace

    • Could do things like generate messages on demand from a build script
  • Esteve has been mulling around an idea where all of our rust messages are under a single crate, and we enable/disable features to pull in various message packages.

    I believe the ideal looks like this

ros2_messages = { 
	version = "jazzy", 
	features = ["geometry_msgs", "std_messages"] 
}

Summary


  • Looking to merge the parameter services PR
  • Want to see if we can get Timer work started
  • Improved docs with message generation
  • Upgrade rust to 1.78 for u128
  • Jacob looking for help on Lifecycle nodes
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