Repository files navigation

Ther2r_regular_markers is a Rust module that manages and publishes markers using ROS2. It allows you to add, modify, and delete markers, which are periodically published asMarkerArray messages on a specified ROS topic.

• Add Markers: Insert new markers or update existing ones by name.
• Delete Markers: Remove markers by their unique names.
• Apply Changes: Commit pending updates to be published.
• Periodic Publishing: Automatically publishes markers at regular intervals.
• Thread-Safe: UtilizesArc andMutex for safe concurrent access.

• Marker Management: Maintains a list of active markers and pending updates.
• Pending Updates: Changes are first added to a pending updates list.
• Apply Changes: Callingapply_changes commits pending updates to the active marker list.
• Periodic Publishing: A background task publishes the active markers at regular intervals (every 20 milliseconds by default).

• Rust programming language
• ROS2 environment
• r2r crate for ROS2 communication
• tokio for asynchronous operations

Add the following to yourCargo.toml:

[dependencies]r2r ="0.9.0"r2r_regular_markers = {git ="https://github.com/sequenceplanner/r2r_regular_markers",tag ="v0.0.2" }tokio = {version ="1.36.0",features = ["full"] }

let context =Context::create()?;let node = r2r::Node::create(context,"my_marker","")?;let arc_node =Arc::new(Mutex::new(node));let server =RegularMarkerServer::new("my_ns","my_topic", arc_node);

letmut marker =Marker::default();// Configure your marker properties heremarker_server.insert("unique_marker_name", marker);

marker_server.delete("unique_marker_name");

marker_server.apply_changes();

Contributions are welcome! Please open an issue or submit a pull request for any improvements.

This project is open-source and available under theTODO: License.