Generate code to convert geometry_msgs into nalgebra structs, for rosrust.
Use ros_nalgebra::rosmsg_include instead of rosrust::rosmsg_include in your code.
use nalgebra as na;
mod msg {
ros_nalgebra::rosmsg_include!(nav_msgs / Odometry);
}
fn main() {
let mut odom_msg = msg::nav_msgs::Odometry::default();
odom_msg.pose.pose.position.x = 1.0;
odom_msg.pose.pose.position.y = -1.0;
odom_msg.pose.pose.position.z = 2.0;
odom_msg.pose.pose.orientation.x = 0.0;
odom_msg.pose.pose.orientation.y = 0.0;
odom_msg.pose.pose.orientation.z = 0.0;
odom_msg.pose.pose.orientation.w = 1.0;
// convert into nalgebra::Isometry<f64> by `from()`
let pose = na::Isometry3::from(odom_msg.pose.pose);
println!("{}", pose);
let mut pose2 = pose.clone();
pose2.translation.vector.x = -5.0;
// convert into ROS msg using `into()`
let pose_msg: msg::geometry_msgs::Pose = pose2.into();
println!("{:?}", pose_msg);
}Below messages are automatically included by ros_nalgebra::rosmsg_include!(). Do not include them in your code.
geometry_msgs/Point,
geometry_msgs/Pose,
geometry_msgs/Quaternion,
geometry_msgs/Transform,
geometry_msgs/Vector3,If some messages are included already (for example in other crate), you can use ros_nalgebra_msg!(). The arguments are the rust namespace of the geometry_msgs (example:msg) and the message type (example: Pose for geometry_msgs/Pose, Point for geometry_msgs/Point).
In some_other_crate,
mode msg {
rosrust::rosmsg_include!(geometry_msgs/Point);
}Then you can use ros_nalgebra::ros_nalgebra_msg!() in your crate.
// generate conversion code only for `geometry_msgs/Point` which is defined in `::some_other_crate::msg`.
ros_nalgebra::ros_nalgebra_msg!(::some_other_crate::msg, Point);See lib.rs.
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