ROS 2 client library for Rust

ROS 2 is a popular open source robotics framework, used in a variety of fields (self-driving cars, drones, humanoid robots, etc.). rclrs is a library for writing robotics applications in Rust that integrate with ROS 2.

Please see the docs in the ros2_rust repo.

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[Unreleased]

0.5.1 - 2025-08-23

Other

• Fix executor timeout (#519)

0.5.0 - 2025-08-15

Added

• vendorize messages so that cargo update works (#509)

Other

• Moved examples to its own repo (#504)
• Wake up wait set when adding a new waitable (#505)
• rename generate_docs feature to use_ros_shim (#501)
• Async Workers (#446)
• Shared state pattern (spin-off of #427) (#430)
• Options pattern (spin-off of #427) (#429)
• Fix RAII for subscription, client, and service (#463)
• Execution structure (spin-off of #427) (#428)
• Remove Iron support (#443)
• Add Publisher::get_subscription_count (#457)
• Bumb bindgen dependency to 0.70 (#452)
• Update for clippy 1.83 (#441)
• Add Publisher::can_loan_msgs (#434)
• Add rosout logging to rclrs (#422)
• Update vendored interface packages (#423)
• Use latest stable Rust CI + Fix Test Errors (#420)
• Add std::error::Error impls to Error enums of parameter module (#413)
• Wrap slice::from_raw_parts to be compatible with rcl (#419)
• Compile on targets where c_char ≠ i8 (#403)
• Add parameter services (#342)
• Fixup of #388 (#389)
• Fix link formatting
• Get rid of doc links to private structs
• Update documentation on ENTITY_LIFECYCLE_MUTEX
• Improve the documentation for the domain ID situation of test_graph_empty
• Rename to avoid confusion with Handle pattern
• Update documentation and safety info on rcl entity lifecycles
• Remove the need for lazy_static
• Satisfy clippy
• Use usize instead of u8 for domain id
• Ensure that test_graph_empty works even if the system has ROS_DOMAIN_ID set to 99
• Run clippy
• Run rustfmt
• Apply lifecycle lock to all middleware entities
• Ensure that mutex guards are not being dropped prematurely
• Introduce InitOptions to allow manually setting domain ID
• Keep context alive for guard conditions
• Manage all rcl bindings with Handle structs
• Reworking the lifecycle management of rcl bindings
• Import the builtin_interfaces directly from the internal vendor module.
• Added test_msgs as a test dependency
• Move the tests in the rclrs_tests crate into rclrs.
• Move rcl structs to end of Node declaration
• Allow ros2_rust to be built within a distro workspace
• Add default implementation and builder pattern for QoS (#361)
• Adding a simple helper function for converting rclrs::Time to a ros message (#359)
• Remove leading underscore from private fields (#354)

0.4.1 - 2023-11-28

• Added minor changes to enable documentation generation on docs.rs for the ros2-rust projects.

0.4.0 - 2023-11-07

• Service clients now support service_is_ready to check if a service server is present ahead of calling (#399)
• Added preliminary support for parameters
• Added support for Iron Irwini
• Added Serde big array support
• Added basic functionality for loading introspection type support libraries
• Added extended string types
• Added time source and clock API to nodes
• Removed support for Galactic
• Removed support for Foxy

0.3.1 - 2022-10-17

• Fixed segfault when re-using WaitSet
• Fixed Node::get_{publishers,subscriptions}_info_by_topic()

0.3.0 - 2022-10-03

• Loaned messages (zero-copy) (#212)
• Graph queries (#234)
• Guard conditions (#249)

[0.2.0] (2022-07-21)

• First release
• colcon-cargo and colcon-ros-cargo can now build any pure Cargo and ament-aware Cargo projects
• rclrs and rclrs_examples are now ament_cargo projects, no more CMake involved
• rosidl_generator_rs has been updated to support all ROS message types
• rclrs now supports clients and services

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