pamoja-ros2

ROS 2 names, RIHS01 type hashes, CDR encoding, and rmw_zenoh key assembly, with no ROS 2 installed. One capability of pamoja, one memory-safe Rust core with bindings for TypeScript, Python, and C#.

Install

pip install pamoja-ros2

from pamoja import ros2

This pulls in pamoja-native, the compiled engine. pip install pamoja is the whole framework in one package.

Example

The script the test suite runs, spliced here as it ran.

From bindings/python/guides/ros2.py:

from pamoja.ros2 import EntityKind, dds_topic, dds_type_name, is_fully_qualified, is_valid_name

# A name is slash-separated tokens. A token may hold letters, digits, and underscores, and
# may not begin with a digit, which is the rule that catches most generated names.
for name in ("/robot1/camera_left/image_raw", "/2foo"):
    print(f"{name} is a valid name: {is_valid_name(name)}")
print(f"chatter is fully qualified: {is_fully_qualified('chatter')}")
print(f"/chatter is fully qualified: {is_fully_qualified('/chatter')}")

# On the wire a topic carries a prefix that says what kind of endpoint it is, so a
# subscription and a service request never collide in the same DDS partition.
published = dds_topic("/robot1/cmd_vel", EntityKind.TOPIC)
asked = dds_topic("/robot1/add", EntityKind.SERVICE_REQUEST)
answered = dds_topic("/robot1/add", EntityKind.SERVICE_RESPONSE)
print(f"a topic    becomes {published}")
print(f"a request  becomes {asked}")
print(f"a response becomes {answered}")

# A message type maps to a DDS type name the same way, so both ends agree on what is being
# carried before a byte is exchanged.
print(f"std_msgs/msg/String becomes {dds_type_name('std_msgs/msg/String')}")
print(f"a malformed type name becomes {dds_type_name('not a type')}")

The same capability in every language

Documentation

• pamoja.ros2 reference, every class and function in this module.
• The ROS 2 rules guide, with the same example in Rust, TypeScript, and C#.
• Every capability, and the install page.

License

MIT