ROS2.jl

ROS2.jl is a Julia wrapper for ROS2's Python client library (rclpy), enabling robotics development in Julia with ROS2's distributed systems capabilities.

日本語のREADMEはこちら

Dependencies

Required

• Julia 1, lts
• ROS2 (Humble, Jazzy, rolling)
• Python 3.10(for Humble), 3.12(for Jazzy, rolling)
• PyCall.jl
• ROS2 Python dependencies:
  • rclpy
  • std_msgs
  • geometry_msgs
  • tf2_ros
  • composition_interfaces

Optional

• ros-jazzy-demo-nodes-cpp (for component examples)
• ros-jazzy-composition-demo (for composition examples)
• ros-jazzy-lifecycle (for lifecycle nodes)

Version Compatibility

ROS2.jl Version	ROS2 Version	Julia Version	Python Version
0.2.0	Jazzy, Humble	1.10, 1.11, 1.12	3.12(Jazzy), 3.10(Humble)
0.1.5	Jazzy	1.10, 1.11, 1.12	3.12

Features

• Basic Communication
  • Topic Communication (Publisher/Subscriber)
  • Service Communication (Client/Server)
  • Action Communication (Client/Server)
• Time Management
  • ROS Time, Duration, Clock
  • Time conversions and operations
• Coordinate Transformations
  • TF2 support (Transform Listener/Broadcaster)
  • Static transform broadcasting
• Dynamic Message System
  • Runtime message creation and field access
  • Message type introspection
• Advanced Execution
  • Multi-threaded executors
  • Custom QoS profiles
• Component Management
  • Dynamic node loading/unloading
  • Component containers
• Parameter Management
  • Parameter declaration, getting, setting
  • Parameter callbacks
• Logging System
  • All log levels (DEBUG, INFO, WARN, ERROR, FATAL)
  • Custom logger configuration
• Network Configuration
  • Domain ID management
  • Custom QoS settings
• Timer Operations
  • High-precision timers
  • Timer management (cancel, reset, etc.)

Installation

1. Ensure you have ROS2 installed and sourced:

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

2. Install ROS2.jl:

using Pkg
Pkg.add("ROS2")

3. For component management features:

sudo apt install ros-jazzy-rclcpp-components ros-jazzy-composition-demo

Quick Start

Basic Publisher/Subscriber

using ROS2

init()

node = ROSNode("example_node")

pub = Publisher(node, "hello", "std_msgs.msg.String")

msg = create_msg("std_msgs.msg.String")
msg.data = "Hello from Julia!"
publish(pub, msg)

function callback(msg)
    println("Received: ", msg.data)
end
sub = Subscriber(node, "hello", "std_msgs.msg.String", callback)

spin(node)

Service Communication

using ROS2

init()
node = ROSNode("service_example")

function add_callback(request, response)
    response.sum = request.a + request.b
    println("Request: $(request.a) + $(request.b) = $(response.sum)")
    return response
end

server = ServiceServer(node, "add_two_ints", "example_interfaces.srv.AddTwoInts", add_callback)

client = ServiceClient(node, "add_two_ints", "example_interfaces.srv.AddTwoInts")

if wait_for_service(client, timeout=5.0)
    request = create_request("example_interfaces.srv.AddTwoInts")
    request.a = 5
    request.b = 3
    
    response = call(client, request)
    println("Result: $(response.sum)")
end

spin(node)

Action Communication

using ROS2

init()
node = ROSNode("action_example")

client = ActionClient(node, "fibonacci", "example_interfaces.action.Fibonacci")

goal = create_goal("example_interfaces.action.Fibonacci")
goal.order = 10

function feedback_callback(feedback_msg)
    println("Feedback: $(feedback_msg.feedback.partial_sequence)")
end

future = send_goal(client, goal, feedback_callback)

result = send_goal_sync(client, goal, timeout=10.0)
if result !== nothing
    println("Final sequence: $(result.result.sequence)")
end

spin(node)

TF2 Coordinate Transformations

using ROS2

init()
node = ROSNode("tf_example")

broadcaster = TransformBroadcaster(node)

transform = create_transform_stamped("map", "base_link", (1.0, 2.0, 0.0), (0.0, 0.0, 0.0, 1.0))
transform.header.stamp = to_msg_time(now())
send_transform(broadcaster, transform)

listener = TransformListener(node)

try
    transform = lookup_transform(listener, "map", "base_link", now())
    println("Transform: $(transform.transform.translation)")
catch e
    println("Transform lookup failed: $e")
end

spin(node)

Dynamic Message Creation

using ROS2

init()
node = ROSNode("dynamic_msg_example")

available_types = get_available_message_types()
println("Available message types: $(length(available_types))")

twist_msg = create_msg_dynamic("geometry_msgs.msg.Twist")
twist_msg.linear.x = 1.0
twist_msg.angular.z = 0.5

pose_msg = create_msg_dynamic("geometry_msgs.msg.PoseStamped")
pose_msg.header.stamp = to_msg_time(now())
pose_msg.header.frame_id = "map"
pose_msg.pose.position.x = 1.0

fields = get_message_fields("geometry_msgs.msg.Twist")
println("Twist message fields: $fields")

shutdown()

Multi-threaded Execution

using ROS2

init()

set_domain_id(1)
println("Domain ID: $(get_domain_id())")

node = ROSNode("advanced_node")

executor = MultiThreadedExecutor(4)
add_node(executor, node)

custom_qos = QoSProfile("best_effort", "volatile", "keep_last", 10)
pub = Publisher(node, "high_freq_data", "std_msgs.msg.String")

counter = Ref(0)
timer = ROSTimer(node, 0.01, () -> begin
    counter[] += 1
    msg = create_msg_dynamic("std_msgs.msg.String")
    msg.data = "High frequency message #$(counter[])"
    publish(pub, msg)
end)

spin_executor(executor)

Component Management

using ROS2

init()

manager = ComponentManager("ComponentManager")

components = list_components(manager)
if components !== nothing
    println("Loaded components: $(length(components.unique_ids))")
    
    response = load_component(manager, "composition", "composition::Talker", "julia_talker")
    if response !== nothing && response.success
        println("Loaded component with ID: $(response.unique_id)")
        
        sleep(5.0)
        
        unload_response = unload_component(manager, response.unique_id)
        if unload_response !== nothing && unload_response.success
            println("Component unloaded successfully")
        end
    end
end

shutdown()

Parameter Management

using ROS2

init()
node = ROSNode("param_example")

declare_parameter(node, "max_speed", 1.0)
declare_parameter(node, "robot_name", "my_robot")
declare_parameter(node, "use_lidar", true)

max_speed = get_parameter(node, "max_speed")
robot_name = get_parameter(node, "robot_name")
use_lidar = get_parameter(node, "use_lidar")

println("Max speed: $max_speed")
println("Robot name: $robot_name")
println("Use LiDAR: $use_lidar")

set_parameter(node, "max_speed", 2.0)

function param_callback(params)
    for param in params
        println("Parameter changed: $(param.name) = $(param.value)")
    end
end

add_on_set_parameters_callback(node, param_callback)

spin(node)

Comprehensive Logging

using ROS2

init()
node = ROSNode("logging_example")

logger = get_logger(node)

debug(logger, "Debug message")
info(logger, "Info message")
warn(logger, "Warning message")
log_error(logger, "Error message")
fatal(logger, "Fatal message")

set_level(logger, INFO)

shutdown()

Advanced Examples

Check the examples/ directory for comprehensive examples.

API Reference

Core Functions

• init() - Initialize ROS2
• shutdown() - Shutdown ROS2
• ROSNode(name) - Create a ROS2 node
• spin(node) - Spin a node
• spin_once(node) - Process one event
• is_ok() - Check if ROS2 is running

Topic Communication

• Publisher(node, topic, msg_type) - Create publisher
• Subscriber(node, topic, msg_type, callback) - Create subscriber
• publish(pub, msg) - Publish message
• create_msg(msg_type) - Create message
• create_msg_dynamic(msg_type) - Create message dynamically

Service Communication

• ServiceServer(node, service, srv_type, callback) - Create service server
• ServiceClient(node, service, srv_type) - Create service client
• call(client, request) - Synchronous service call
• call_async(client, request) - Asynchronous service call
• wait_for_service(client, timeout=inf) - Wait for service

Action Communication

• ActionServer(node, action, action_type, callbacks) - Create action server
• ActionClient(node, action, action_type) - Create action client
• send_goal(client, goal, feedback_cb=nothing) - Send goal
• send_goal_sync(client, goal, timeout=inf) - Send goal synchronously

Time Management

• now() - Get current ROS time
• ROSTime(sec, nanosec) - Create ROS time
• ROSDuration(sec, nanosec) - Create duration
• to_msg_time(time) - Convert to message time
• from_msg_time(msg_time) - Convert from message time

TF2 Transformations

• TransformListener(node) - Create transform listener
• TransformBroadcaster(node) - Create transform broadcaster
• StaticTransformBroadcaster(node) - Create static broadcaster
• lookup_transform(listener, target, source, time) - Lookup transform
• send_transform(broadcaster, transform) - Send transform
• create_transform_stamped(parent, child, translation, rotation) - Create transform

Advanced Features

• MultiThreadedExecutor(num_threads) - Multi-threaded executor
• QoSProfile(reliability, durability, history, depth) - Custom QoS
• ComponentManager(name) - Component manager
• load_component(manager, package, plugin, name) - Load component
• set_domain_id(id) - Set ROS domain ID

Parameters

• declare_parameter(node, name, default_value) - Declare parameter
• get_parameter(node, name) - Get parameter value
• set_parameter(node, name, value) - Set parameter value
• has_parameter(node, name) - Check if parameter exists

Logging

• get_logger(node) - Get node logger
• debug(logger, msg), info(logger, msg), warn(logger, msg) - Log messages
• log_error(logger, msg), fatal(logger, msg) - Error logging
• set_level(logger, level) - Set log level

Troubleshooting

Common Issues

1. PyCall Configuration

ENV["PYTHON"] = "/usr/bin/python3"
using Pkg; Pkg.build("PyCall")

2. ROS2 Environment

source /opt/ros/jazzy/setup.bash
julia

3. Component Container

ros2 run rclcpp_components component_container

Contributing

We welcome contributions! See our contributing guidelines for:

• Bug reports and feature requests
• Code contributions
• Documentation improvements
• Example additions

Development Setup

git clone https://github.com/Michi-Tsubaki/ROS2.jl
cd ROS2.jl
julia -e 'using Pkg; Pkg.develop(path=".")'
source /opt/ros/jazzy/setup.bash
julia --project -e 'using Pkg; Pkg.test()'

TODO

• Lifecycle Nodes (Advanced State Management)
• Advanced Security Features
• DDS Vendor-Specific Configuration
• Advanced Introspection and Debugging

Community Contributions Welcome

We're looking for contributors to help with:

• Lifecycle node implementation
• Security features
• Performance optimizations
• Documentation improvements
• Real-world usage examples
• Integration with Julia ecosystem packages

License

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

---

ROS2.jl

ROS2.jl は，ROS2のPythonクライアントライブラリ（rclpy）のJuliaラッパーで，rclpyの機能をJuliaフレンドリーなインターフェースで提供する．

依存関係

必須

• Julia 1.10以上
• ROS2 (Jazzy)
• Python 3.12
• PyCall.jl
• ROS2 Python依存関係：
  • rclpy
  • std_msgs
  • geometry_msgs
  • tf2_ros
  • composition_interfaces

オプション

• ros-jazzy-demo-nodes-cpp（コンポーネント例用）
• ros-jazzy-composition-demo（コンポジション例用）
• ros-jazzy-lifecycle（ライフサイクルノード用）

簡単な使い方

詳しい使い方はexamples/以下のファイルを参照．

基本的なパブリッシャー/サブスクライバー

using ROS2

init()

node = ROSNode("example_node")

pub = Publisher(node, "hello", "std_msgs.msg.String")

msg = create_msg("std_msgs.msg.String")
msg.data = "Hello from Julia!"
publish(pub, msg)

function callback(msg)
    println("Received: ", msg.data)
end
sub = Subscriber(node, "hello", "std_msgs.msg.String", callback)

spin(node)

マルチスレッド実行

using ROS2

init()

set_domain_id(1)
println("Domain ID: $(get_domain_id())")

node = ROSNode("advanced_node")

executor = MultiThreadedExecutor(4)
add_node(executor, node)

custom_qos = QoSProfile("best_effort", "volatile", "keep_last", 10)
pub = Publisher(node, "high_freq_data", "std_msgs.msg.String")

counter = Ref(0)
timer = ROSTimer(node, 0.01, () -> begin
    counter[] += 1
    msg = create_msg_dynamic("std_msgs.msg.String")
    msg.data = "高頻度メッセージ #$(counter[])"
    publish(pub, msg)
end)

spin_executor(executor)

動的メッセージ作成

using ROS2

init()
node = ROSNode("dynamic_msg_example")

available_types = get_available_message_types()
println("利用可能なメッセージ型: $(length(available_types))個")

twist_msg = create_msg_dynamic("geometry_msgs.msg.Twist")
twist_msg.linear.x = 1.0
twist_msg.angular.z = 0.5

pose_msg = create_msg_dynamic("geometry_msgs.msg.PoseStamped")
pose_msg.header.stamp = to_msg_time(now())
pose_msg.header.frame_id = "map"
pose_msg.pose.position.x = 1.0

shutdown()

TODO

• ライフサイクルノード（高度な状態管理）
• 高度なセキュリティ機能
• 詳細なシステム内部監視

ライセンス

このプロジェクトはMITライセンスの下で提供されている - 詳細はLICENSEファイルを参照．

© 2025 Michitoshi Tsubaki (@Michi-Tsubaki)