IHMC Java ROS 2 Communication
ROS2 messaging for Java.
Introduction
This library builds on IHMC Pub Sub Group, an allocation free Java library for DDSI-RTPS messaging. It uses modified versions of rosidl utilities to convert .msg files into Java types.
Features
- Easy-to-use API for publishing and subscribing to ROS 2 topics
- Allocation free modules for realtime support
- Carries documentation from .msg files into Javadoc
- Gradle task for .msg -> .java generation
- Provided Java library for ROS common_interfaces, rcl_interfaces, and geometry2
- ROS 2 .msg to ROS 1 .msg generation
- Official ROS 2 compatibility when used with Fast-DDS middleware
Download
In your build.gradle.kts:
Publish/subscribe API:
api("us.ihmc:ihmc-ros2-library:<version>") Latest:
Generator for .msg -> .java:
api("us.ihmc:ros2-msg-to-pubsub-generator:<version>") Latest:
IHMC ROS 2 Library
This library provides a minimal implementation of a ROS 2 node in Java. Two versions are available:
- ROS2Node: Publishes in the same thread and uses direct callbacks for incoming messages.
- RealtimeROS2Node: Stores outgoing and incoming messages in a queue and uses non-blocking calls to publish messages and allows polling for new messages.
Examples
See NonRealtimeROS2PublishSubscribeExample.java and RealtimeROS2PublishSubscribeExample.java.
Environment Options
| Environment Variable | Description |
|---|---|
| ROS_DOMAIN_ID | Set the ROS 2 domain ID to use (integer, 0-101) |
| ROS_DISABLE_SHARED_MEMORY_TRANSPORT | Disable shared memory transport if set to true |
| ROS_DEFAULT_QOS | QoS for topics that don't specify it (RELIABLE or BEST_EFFORT) |
Note
The intermediate .idl files generated by this library are not valid to be used outside IHMC Pub/Sub.
License
Apache 2.0