Crate spatialrust_ros2 

ROS 2 message and rosbag2 adapters for SpatialRust.

Native ROS 2 executors and rclrs remain separate integration concerns. Enable rosbag2-sqlite for the read-only SQLite bag source.

Structs

Rosbag2PointCloudSource

Bounded, deterministic PointCloud2 XYZ/XYZI source backed by rosbag2 SQLite.

Rosbag2TfMessage

One bounded rosbag2 TFMessage with its SQLite capture timestamp.

Rosbag2Topic

Metadata for one rosbag2 topic.

Enums

Rosbag2Error

Failures while inspecting or streaming a rosbag2 SQLite bag.

Constants

ROSBAG2_POINT_XYZI_SCHEMA_ID

Stable schema family for XYZ-I columns decoded from ROS 2 PointCloud2.

ROSBAG2_POINT_XYZ_SCHEMA_ID

Stable schema family for XYZ columns decoded from ROS 2 PointCloud2.

Functions

list_tf_messages

Reads at most max_messages TFMessage payloads from one rosbag2 topic.

list_topics

Lists topics from a rosbag2 SQLite file without modifying it.

Type Aliases

Rosbag2Result

Result type for rosbag2 SQLite operations.