ROS2 Message Definition

This repository stores all the ROS2 message definitions. The folder structure under Sources/ros2msg follows the ROS2 message definitions without the msg subfolder.

Sources/ros2msg/Resources contains the original .msg files provided by ROS2. Currently, we are using the Humble Hawksbill distribution. Note that the .msg files under Sources/ros2msg/Resources/ros2humble include complete definitions with all dependent message types.

Current Functionality

• Swift Protocols and Macros:
  The package is organized into multiple modules:

  • ROS2MsgProtocol: Defines the protocols that all ROS2 message implementations must conform to.
  • ROS2MsgMacros: Uses custom Swift macros (powered by swift-syntax) to annotate and simplify message type registration.
  • ros2msg: The main module that integrates the above functionalities.

• Compiler Plugins & Custom Macros:
  Leveraging Swift 5.9 and the swift-syntax package, the project supports custom macros and compiler plugins for reducing boilerplate code.

• Async/Await Support:
  The package targets macOS v14 and iOS v17, ensuring full support for async/await as required.

• Resource Integration:
  The .msg files in Sources/ros2msg/Resources/ros2humble are copied as resources at build time, making the ROS2 message definitions available during runtime.

Contact

For questions, improvements, or issues regarding adding new messages, please contact:

Yaoyu Hu: yaoyuh@andrew.cmu.edu

Modified by Chiawen Liao: chiawenl@andrew.cmu.edu