ros2_rust
geometric_algebra
| ros2_rust | geometric_algebra | |
|---|---|---|
| 6 | 2 | |
| 809 | 42 | |
| 2.5% | - | |
| 8.3 | 5.4 | |
| 3 days ago | 8 months ago | |
| Rust | Rust | |
| Apache License 2.0 | MIT License |
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ros2_rust
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Rapier is a set of 2D and 3D physics engines written in Rust
I want to make this happen ! Do you know of any good robotics framework in Rust, as of today ? I heard that ROS2 was slowly including Rust [1], not sure at how did it go. Ros would be a good entry door to sensor fusion, mapping and localization. Because all of the hardware integration / abstraction is already done (in C++). I'm curious to know if company are using this.
[1] https://github.com/ros2-rust/ros2_rust
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Help with rosrust crate.
The rosrust crate is for ROS1. You either want to switch to that instead or use a crate meant for ROS2 (I think the main crate for that is ros2_rust).
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Is C++ better for ROS2?
How about: https://github.com/ros2-rust/ros2_rust/blob/main/docs/writing-your-first-rclrs-node.md
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Announcing ros2-rust (aka rclrs) 0.3
We're happy to announce a new release of of ros2-rust!
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Announcing ros2-rust 0.2.0
After many months of hard work we're happy to announce [a new release](https://github.com/ros2-rust/ros2_rust/releases/tag/0.2.0) of ros2-rust. This new release includes lots of improvements and features, some of them are:
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Why Rust for Robots?
ros2-rust: Bindings, a code generator and code examples for ROS2
geometric_algebra
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Rapier is a set of 2D and 3D physics engines written in Rust
I got sucked down a Geometric Algebra rabbit hole a few months ago, which seems like a remarkably concise and intuitive way to work in a very wide variety of geometries, including 2D, 3D, 4D+, non-euclidean etc. I've wondered if GA would make a good foundation for a physics engine...
There are a few small rust libraries that look interesting [1][2], but none with a lot of traction.
Has anyone looked into this?
[1]: https://crates.io/keywords/geometric-algebra
[2]: https://github.com/Lichtso/geometric_algebra
If you dare, a good place to jump in might be Freya Holmér's Why can't you multiply vectors? - https://www.youtube.com/watch?v=htYh-Tq7ZBI
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Geometric Algebra to Geometric Computing Software Developers
The GA community in general is very small. So yes, tooling could be better, but IMO that is not even the problem. The lack of understanding how to use it is, because GA is not explicitly taught in schools or universities.
I have written a compiler which generates SIMD ready code for the desired GAs. You can then use that output as a normal library for your application.
https://github.com/Lichtso/geometric_algebra
What are some alternatives?
openrr - Open Rust Robotics
Decapodes.jl - A framework for composing and simulating multiphysics systems
rosrust - Pure Rust implementation of a ROS client library
clifford - Geometric Algebra for Python
optimization-engine - Nonconvex embedded optimization: code generation for fast real-time optimization
ganja.js - :triangular_ruler: Javascript Geometric Algebra Generator for Javascript, c++, c#, rust, python. (with operator overloading and algebraic literals) -
syact - A library to control motors (mainly stepper motors) and components, read data from sensors and more
g3 - Neat 3D math and graphics library
example-robot-docker - An example docker container for running the Transitive agent on a robot
gatl - GATL: Geometric Algebra Template Library
sybot - Rust library for coordinating components, defining robotic systems and their communication
nalgebra - Linear algebra library for Rust.