The APIs are flexible and easy-to-use, supporting authentication, user identity, and complex enterprise features like SSO and SCIM provisioning. Learn more →
Rclcpp Alternatives
Similar projects and alternatives to rclcpp
-
WorkOS
The modern identity platform for B2B SaaS. The APIs are flexible and easy-to-use, supporting authentication, user identity, and complex enterprise features like SSO and SCIM provisioning.
-
InfluxDB
Power Real-Time Data Analytics at Scale. Get real-time insights from all types of time series data with InfluxDB. Ingest, query, and analyze billions of data points in real-time with unbounded cardinality.
-
rosserial
A ROS client library for small, embedded devices, such as Arduino. See: http://wiki.ros.org/rosserial
-
Micro-XRCE-DDS
An XRCE DDS implementation. Looking for commercial support? Contact [email protected]
-
SaaSHub
SaaSHub - Software Alternatives and Reviews. SaaSHub helps you find the best software and product alternatives
rclcpp reviews and mentions
-
How to use various QoS settings in ros2 used in moveit software?
I think there's an overload of rclcpp::action::create_client that will accept an rcl_action_client_options_t (see here https://github.com/ros2/rclcpp/pull/1133/files) but it looks like MoveGroupInterface doesn't pass anything in when it creates the action clients:
-
Making the jump to ROS2
So one of the bigger issues I've encountered is that re-entrant services can break with the multi-threaded executor https://github.com/ros2/rclcpp/issues/1212 Services in ROS2 by default are not reentrant meaning they need to be called asynchronously. Since my team was porting ROS1 nodes over we wanted to keep the old blocking service call behavior in ROS2 to avoid changing decision logic. Unfortunately, we found out that this can cause the node to crash per the issue above. The fix for that issue was implemented in Humble irc, but can't be ported back to foxy. That's one specific example, but we've seen a few other issues like that as well.
-
RADU: Motor Controller Software for Arduino and Raspberry Pico
Alternatively, you can use the default client libraries like rclpy or rclcpp for writing custom code that reads and writes ROS2 messages.
-
Nix is the ultimate DevOps toolkit
Thanks for the response!
> This is difficult to answer without knowing more details.
The situation specifically is the ROS ecosystem, where metadata is managed in these package.xml files:
https://github.com/ros2/rclcpp/blob/master/rclcpp/package.xm...
The federated nature of the ecosystem has led to a culture where it's very normal to be building dozens of these at once, in the same workspace together, often from multiple repos (the repo above has four in it). So there are several build tools which automate the work of examining a source workspace and building all the packages within it in the correct topological order, respecting build_depend tags. The newest of these tools (colcon) has actually made the package.xml optional in many cases, as it can examine CMakelists, setup.py, BUILD, etc, and discover for itself what the dependencies are.
Your "distribution" of ROS is formed by listing all the packages and repos in this big file, for which there is other tooling to manage pulling dependency sources, whatever: https://github.com/ros/rosdistro/blob/master/foxy/distributi...
Anyway, so the existing ROS/nix efforts (1) seem to basically consume all of this package/distribution metadata at once and generate a giant parallel structure of nix definitions (eg https://github.com/lopsided98/nix-ros-overlay/blob/master/di...), which I fear would be completely opaque to users and any system which required everyone to leave behind these existing workflows would be an immediate non-starter.
I think the ideal scenario (and what it would look like if I built this myself based on debs) would be that you could source the "base" workspace as usual (enter the nix-shell?), and check out source, build packages as usual with colcon, the usual workspace-building tool, but there'd be an extra plugin/verb/flag for it, which would make it build each package as a nix package instead of into the usual installspace. The verb would generate the nix definitions on the fly, and probably handle the invocation and build-parallelism side of it as well.
[1]: https://github.com/acowley/ros2nix, https://github.com/lopsided98/nix-ros-overlay
-
A note from our sponsor - WorkOS
workos.com | 23 Apr 2024
Stats
ros2/rclcpp is an open source project licensed under Apache License 2.0 which is an OSI approved license.
The primary programming language of rclcpp is C++.
Sponsored