nonanonno / ros2_d

ROS2 client library for Dlang

ros2_d - ROS2 client library written in Dlang

Document

This is a ROS2 client library written in Dlang that does not depend on ROS2 build infrastructure (colcon).

Sub packages

• rcl_bind : D binding package of rcl
• msg_gen : Message generator that reads IDL files
• rcld : ROS2 client library API for D

Getting started

Prerequisites

• libclang-dev (tested with libclang-10-dev)
• clang (tested with clang-10)

Build

1. Execute this command at your project root.

   • This will generate D message packages from visible ROS2 message packages.

   dub run ros2_d:msg_gen -- .dub/packages

2. Add ros2_d to your project

   dub add ros2_d:rcld

3. Add message packages you want to use

   • Open dub.json and add (e.g.) "std_msgs": ">=0.0.1" to dependencies section

4. Build

   dub build

Before you execute that procedure, please be sure that necessary environment varialbles for ROS2. This means, you need to execute the following command before setting up.

source /opt/ros/$ROS_DISTRO/setup.bash

And if you have your own message type, please do the following command too.

source <your-ament-workspace>/install/setup.bash

When some of ROS2 message type definitions are changed, please do the following command again.

dub run ros2_d:msg_gen -- .dub/packages -r

Here is a example pacakge.

Supporting environments

• OS
  • Linux (tested with Ubuntu 20.04)
• ROS2 distribution
  • Foxy
  • Galactic
  • Rolling
• Dlang
  • dmd (tested with dmd-2.098.0)
• CPU
  • x86_64

For developer

Getting started

ros2_d's Issues

colconの調査

Create simple Message/Service/Action for unittest

• List members
• Implement

Support all types of messages

Various of message examples are shown in test_interface_files. So check comprehensiveness by using it.

• Arrays
• BasicTypes
• BoundedPlainSequences (from rolling)
• BoundedSequences
• Constants
• Defaults
• Empty
• MultiNested
• Nested
• Strings
• UnboundedSequences
• WStrings

rosidl_generator_d を作成

msg 型を生成する rosidl_generator_d package を作成する。

Tasks

• 作成方法調査
• 型定義方法を検討
• 実装

Isolate ROS_DOMAIN_ID/namespace at the test execution

Basic strategy

• Processes -> ROS_DOMAIN_ID
• modules inside a project -> namespace
• unittests inside a module -> manipulate not to mix test executions

For ROS_DOMAIN_ID, a logic to lock ROS_DOMAIN_ID is needed.

rcld package の作成

D client library である rcld package の枠を作成する。単にノードが起動すれば良い。

Tasks

• フォルダ構成決め
• rcld.Node クラスの作成
• colcon build 対応 (optional)

ros2 client library の作成方法調査

Refactor development environment

• Delete dub.selections.json because this is a library
• Create .devcontainer
• Sort documents

Cannot build with dmd 2.098.1

https://github.com/nonanonno/ros2_d/runs/4628352818?check_suite_focus=true#step:4:24

/tmp/runner/work/_tool/dc/dmd-2.098.1/x64/dmd2/linux/bin64/../../src/phobos/std/container/slist.d(161,28): Error: copy constructor `std.container.slist.SList!(Structure).SList.Node.this(return ref scope inout(Node) p) inout` is not callable using argument types `(typeof(null), Structure)`
/tmp/runner/work/_tool/dc/dmd-2.098.1/x64/dmd2/linux/bin64/../../src/phobos/std/container/slist.d(161,28):        cannot pass rvalue argument `null` of type `typeof(null)` to parameter `return ref scope inout(Node) p`
/tmp/runner/work/_tool/dc/dmd-2.098.1/x64/dmd2/linux/bin64/../../src/phobos/std/container/slist.d(172,34): Error: template instance `std.container.slist.SList!(Structure).SList.createNodeChain!(Range)` error instantiating
/tmp/runner/work/_tool/dc/dmd-2.098.1/x64/dmd2/linux/bin64/../../src/phobos/std/container/slist.d(409,31):        instantiated from here: `insertAfterNode!(Range)`
/tmp/runner/work/_tool/dc/dmd-2.098.1/x64/dmd2/linux/bin64/../../src/phobos/std/container/slist.d(198,20):        instantiated from here: `insertFront!(Range)`
/tmp/runner/work/_tool/dc/dmd-2.098.1/x64/dmd2/linux/bin64/../../src/phobos/std/container/slist.d(294,21):        instantiated from here: `__ctor!(Range)`
msg_gen/source/msg_gen/parsers/idl.d(85,9):        instantiated from here: `SList!(Structure)`
/tmp/runner/work/_tool/dc/dmd-2.098.1/x64/dmd2/linux/bin64/dmd failed with exit code 1.
dub build :msg_gen : failed

• Change Log of 2.098.1

Create a robust executor

Currently I'm facing the following issues.

• Service
  • Pass rcl_wait more than two times while sending only one request
  • Result in 601
• Subscription
  • Sometime failed with 401

pub/sub を追加

最低限の publisher / subscriber を作成する。

• publisher
• subscriber