ROS 2 Rust Navigation Node

Overview

This project showcases a navigation node for a two-wheel robot implemented in Rust using the ROS 2 Humble distribution. The node subscribes to the current position and publishes goal positions, enabling basic navigation functionalities.

Project Structure

• nav_node/: Contains the Rust package for navigation.
  • src/: Source code for the navigation node.
  • Cargo.toml: Rust dependencies and package information.
  • CMakeLists.txt: CMake configuration for the package.
  • package.xml: ROS package configuration.
• two_wheel_robot/: Contains the URDF description of the two-wheel robot.
  • urdf/: Directory containing the URDF file.
  • CMakeLists.txt: CMake configuration for the URDF package.
  • package.xml: ROS package configuration.

Requirements

• ROS 2 Humble
• Rust programming language
• Cargo (Rust package manager)

Setup Instructions

1. Clone the repository:

   git clone https://github.com/yourusername/ros2_rust_ws.git
   cd ros2_rust_ws

2. Build the workspace:

   colcon build
   

3. Source the workspace:

   source install/setup.bash
   

4. run the nav node:

   ros2 run nav_node
   

Robot pov: