r2r_regular_markers

The r2r_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 as MarkerArray messages on a specified ROS topic.

Features

• 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: Utilizes Arc and Mutex for safe concurrent access.

How It Works

• Marker Management: Maintains a list of active markers and pending updates.
• Pending Updates: Changes are first added to a pending updates list.
• Apply Changes: Calling apply_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).

Getting Started

Prerequisites

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

Installation

Add the following to your Cargo.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"] }

Usage

Creating a RegularMarkerServer

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);

Adding a Marker

let mut marker = Marker::default();
// Configure your marker properties here
marker_server.insert("unique_marker_name", marker);

Deleting a Marker

marker_server.delete("unique_marker_name");

Applying Changes

marker_server.apply_changes();

Contributing

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

License

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