colcon-cargo-ros2 0.3.3

Extension for colcon to build Rust ROS 2 packages with automatic binding generation and ament installation

colcon-cargo-ros2

Build Rust ROS 2 packages with automatic message binding generation.

colcon-cargo-ros2 is a colcon extension that enables seamless integration of Rust packages in ROS 2 workspaces. It automatically generates Rust bindings for ROS message types, manages dependencies, and installs packages in ament-compatible layout.

Features

• Automatic Binding Generation: Generates Rust bindings for messages, services, and actions on-demand
• Smart Caching: SHA256-based checksums for fast incremental builds
• Workspace-Level Bindings: Bindings generated once and shared across all packages
• Zero Configuration: Just add dependencies to Cargo.toml - bindings are handled automatically
• Ament Compatible: Installs to standard ament locations for seamless ROS 2 integration

Installation

From PyPI (Recommended)

pip install colcon-cargo-ros2

From Source

git clone https://github.com/jerry73204/colcon-cargo-ros2.git
cd colcon-cargo-ros2
pip install packages/colcon-cargo-ros2/

Quick Start

1. Create a ROS 2 Workspace

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws

2. Create a Rust ROS 2 Package

cd src
cargo new --bin my_robot_node
cd my_robot_node

3. Add ROS Dependencies

Cargo.toml:

[package]
name = "my_robot_node"
version = "0.1.0"
edition = "2021"

[dependencies]
rclrs = "0.6"
std_msgs = "*"
geometry_msgs = "*"

package.xml:

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>my_robot_node</name>
  <version>0.1.0</version>
  <description>Example Rust ROS 2 node</description>
  <maintainer email="[e-mail]">Your Name</maintainer>
  <license>Apache-2.0</license>

  <buildtool_depend>ament_cargo</buildtool_depend>

  <depend>std_msgs</depend>
  <depend>geometry_msgs</depend>

  <export>
    <build_type>ament_cargo</build_type>
  </export>
</package>

src/main.rs:

use rclrs::CreateBasicExecutor;

fn main() -> Result<(), Box<dyn std::error::Error>> {
    // Initialize ROS context from environment
    let context = rclrs::Context::default_from_env()?;

    // Create executor (manages event loop)
    let executor = context.create_basic_executor();

    // Create node through executor
    let node = executor.create_node("minimal_publisher")?;

    // Create publisher for std_msgs/String on the "chatter" topic
    let publisher = node.create_publisher::<std_msgs::msg::String>("chatter")?;

    // Publish a few messages
    for i in 0..5 {
        let mut msg = std_msgs::msg::String::default();
        msg.data = format!("Hello from Rust! Message #{}", i);

        println!("Publishing: '{}'", msg.data);
        publisher.publish(msg)?;

        std::thread::sleep(std::time::Duration::from_millis(500));
    }

    println!("✓ Published 5 messages successfully!");
    Ok(())
}

4. Build with colcon

cd ~/ros2_ws
source /opt/ros/jazzy/setup.bash  # Or your ROS 2 distro
colcon build --symlink-install

The extension will:

1. Discover ROS dependencies from Cargo.toml and package.xml
2. Generate Rust bindings for std_msgs and geometry_msgs
3. Build your Rust package with cargo
4. Install binaries to install/my_robot_node/lib/my_robot_node/

5. Run Your Program

source install/setup.bash
ros2 run my_robot_node my_robot_node

Expected output:

Publishing: 'Hello from Rust! Message #0'
Publishing: 'Hello from Rust! Message #1'
Publishing: 'Hello from Rust! Message #2'
Publishing: 'Hello from Rust! Message #3'
Publishing: 'Hello from Rust! Message #4'
✓ Published 5 messages successfully!

Package Structure

For colcon-cargo-ros2 to recognize your package:

• Both files required: package.xml AND Cargo.toml in the package root
• Build type: package.xml must specify <build_type>ament_cargo</build_type> in the <export> section
• Dependencies: List ROS dependencies in both Cargo.toml and package.xml

Verify packages are detected:

$ colcon list
my_robot_node   src/my_robot_node   (ament_cargo)

Building

Basic Commands

# Build all packages
colcon build

# Build specific package
colcon build --packages-select my_robot_node

# Build with release optimizations
colcon build --cargo-args --release

# Verbose output
colcon build --event-handlers console_direct+

Using Custom Interfaces

Custom interface packages follow the standard ROS 2 procedure (CMake-based with rosidl_generate_interfaces). Simply add them as dependencies in your Rust package's Cargo.toml:

[dependencies]
my_custom_interfaces = "*"

Bindings will be generated automatically during the build.

How It Works

Workspace-Level Binding Generation

When building a colcon workspace, colcon-cargo-ros2:

1. Discovers Packages: Finds all ROS dependencies via ament index
2. Generates Bindings: Creates Rust bindings in build/<pkg>/rosidl_cargo/ for each interface package
3. Creates Config File: Writes build/ros2_cargo_config.toml with relative paths to all bindings
4. Builds: Runs cargo build --config build/ros2_cargo_config.toml from workspace root
5. Installs: Copies binaries and creates ament markers

Workspace Structure:

ros2_ws/
├── build/
│   ├── ros2_cargo_config.toml  # Workspace config with relative paths
│   ├── std_msgs/
│   │   └── rosidl_cargo/       # Rust bindings for std_msgs
│   │       └── std_msgs/
│   ├── geometry_msgs/
│   │   └── rosidl_cargo/       # Rust bindings for geometry_msgs
│   │       └── geometry_msgs/
│   └── my_interfaces/
│       └── rosidl_cargo/       # Rust bindings for custom interfaces
│           └── my_interfaces/
├── install/
│   ├── my_robot_node/
│   │   ├── lib/my_robot_node/  # Binaries
│   │   └── share/              # Metadata
│   └── my_interfaces/
└── src/
    ├── my_robot_node/
    │   ├── Cargo.toml
    │   └── package.xml
    └── my_interfaces/

Benefits

• Per-Package Organization: Bindings follow ROS conventions (like rosidl_cmake/)
• Fast Builds: Intelligent caching skips regeneration when possible
• Clean Workspace: colcon clean removes all generated code
• Portable: Config file uses relative paths, making workspaces fully portable

Advanced Features

Installing Additional Files with [package.metadata.ros]

ROS 2 packages often need to install additional files beyond binaries (launch files, config files, URDF models, RViz configs, meshes, etc.). Use the [package.metadata.ros] section in Cargo.toml to specify these files:

[package]
name = "my_robot"
version = "0.1.0"

[dependencies]
rclrs = "0.6"
std_msgs = "*"

[package.metadata.ros]
install_to_share = ["launch", "config", "urdf", "README.md"]
install_to_include = ["include"]
install_to_lib = ["scripts"]

Supported Keys

• install_to_share: Files/directories installed to install/<pkg>/share/<pkg>/
  • Launch files, config files, URDF models, RViz configs, meshes, documentation
• install_to_include: Headers installed to install/<pkg>/include/<pkg>/
  • C/C++ headers for FFI libraries
• install_to_lib: Scripts/utilities installed to install/<pkg>/lib/<pkg>/
  • Helper scripts and executables

Example: Robot Description Package

[package]
name = "my_robot_description"
version = "0.1.0"

[lib]
# Library-only package (no binaries)

[package.metadata.ros]
install_to_share = ["urdf", "meshes", "launch", "rviz"]

Project structure:

my_robot_description/
├── Cargo.toml
├── package.xml
├── src/lib.rs
├── urdf/
│   ├── robot.urdf.xacro
│   └── robot.urdf
├── meshes/
│   ├── base.stl
│   └── arm.dae
├── launch/
│   └── display.launch.xml
└── rviz/
    └── default.rviz

After colcon build:

install/my_robot_description/
└── share/my_robot_description/
    ├── urdf/              # Directory with all URDF files
    ├── meshes/            # Directory with all mesh files
    ├── launch/            # Directory with launch files
    ├── rviz/              # Directory with RViz configs
    ├── rust/              # Source code (automatic)
    └── package.xml        # Metadata (automatic)

Troubleshooting

"Package not found in ament index"

Make sure the ROS 2 environment is sourced:

source /opt/ros/jazzy/setup.bash

"error: failed to select a version"

This usually means bindings weren't generated. Try:

# Clean and rebuild
rm -rf build install
colcon build

Build fails with linking errors

Ensure all dependencies are listed in both Cargo.toml and package.xml:

<depend>std_msgs</depend>
<depend>geometry_msgs</depend>

Requirements

• Python: 3.8 or later
• ROS 2: Humble, Iron, or Jazzy
• Rust: 1.70 or later (stable toolchain)
• colcon: Latest version

License

Apache-2.0 (compatible with ROS 2 ecosystem)

Contributing

See CONTRIBUTING.md for development setup, architecture details, and guidelines.

Related Projects

• ros2_rust - Official Rust bindings for ROS 2
• r2r - Alternative Rust bindings
• colcon - Build tool for ROS 2