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rclgo

The goal of this repository is to create a wrapper using cgo for the C library developed for the upcoming ROS2 using the ROS Client Libraries API (RCL)

ADVICE: This project is under development. It is not totally functional yet.

Available functionality

Some basic behaviors such as creating a Node, a Publisher or a Subscriber have been already implemented. For messages, only the std_msgs/String has been implemented by now. In principle, it is intended to generate custom messages with C generator and bind our own types later in go. For the generation of messages, templates and go generate will be used.

Repository structure

Following the structure of the RCL API, the library in go has been organized following the ROS2 concepts. Each concept correspond to a go package.

The goal of this repository is to be as closed as possible to the official C API. When binding is complete, a good option would be to bind this rclgo library with more native/complex behavior (or even with new types/interfaces)

Running the example

Recently, a working Dockerfile and a docker-compose file have been added to the repo. To get the previous example working, just run:

docker-compose build && docker-compose up 

Since containers are using the bridge mode (172.17.0.1 virtual subnet by docker), if we have ros2 already install in the host, just open a terminal and check the nodes and topics:

ros2 topic list

Pre-requisites

cgo is used for the library wrapping. Temporarly, it is assumed that you have ros bouncy installed in:

/opt/ros/bouncy

This is a temporarly solution and it will be changed in the future. A more elegant solution would be to use an enviromental variable to point the library to the proper location.