rclnim

ROS2 client library for Nim language.

Note (Alpha Stage Software) This software is under development and the API is subject to change.

Example

import rclnim
import rclnim/chronossupport
import chronos
importInterface std_msgs/msg/int64

rclnim.init()

let node = newNode("test_node")
var qos = SystemDefaultQoS.withPolicies(depth=100, reliability=Reliable)
let pub = node.createPublisher(Int64, "test_topic", qos)
let sub = node.createSubscription(Int64, "test_topic", qos)

proc pubMain() {.async.} =
  for i in 0..<100:
    let msg = Int64(data: i)
    pub.publish(msg)
    echo "published: ", msg
    await sleepAsync 10

proc subMain() {.async.} =
  for i in 0..<100:
    let msg = await sub.recv()
    echo "received: ", msg

proc main() {.async.} =
  await all [pubMain(), subMain()]

try:
  waitFor main()
except ShutdownError:
  echo "Shutting down"

Dependencies

• Nim >= 2.0
• ROS2 Humble
• Linux (Tested on Ubuntu 22.04)

Documentation

• API Reference

Features

• Topic
• Publisher
• Subscription
• Service
• Service
• Client
• Executors
• Async executor
• Signal handling
• Linux
• Typesupport
• rosidl_typesupport_c wrapper (slow because it converts Nim objects to C structures)
• ROS Distributions
• Humble

TODO

• Support Action
• Implement Parameter client
• Implement Callback-based executor
• Generate FastDDS typesupport for nim objects with macros
• Support component
• Support allocator
• Implement zero-copy intra-process communications
• Support ROS2 Iron
• Support colcon

License

This project is licensed under the MIT License - see the LICENSE file for details