For developers and future users

OpenRR (pronounced like "opener") is Open Rust Robotics platform.

It's heavily under development.

• You can use ROS without ROS installation on Linux/macOS.
• ROS2 Support is experimental. See arci-ros2 for details.

sudo apt install cmake build-essential libudev-dev xorg-dev libglu1-mesa-dev libasound2-dev libxkbcommon-dev protobuf-compiler

• cmake build-essential (openrr-planner (assimp-sys))
• libudev-dev (arci-gamepad-gilrs)
• xorg-dev libglu1-mesa-dev libxkbcommon-dev (openrr-gui (egui))
• libasound2-dev (arci-speak-audio)
• protobuf-compiler (openrr-remote)

arci is a hardware abstraction layer for openrr. Currently ROS1 and urdf-viz (as a static simulator (actually it's just a viewer)) are implemented.

You can write platform/hardware independent code if you use arci traits.

OpenRR contains..

• abstract robot interfaces (arci)
• concrete implementation of the interfaces (arci-ros, arci-urdf-viz, ...)
• library which uses the interfaces (openrr-client, ...)
• tools (openrr-apps)
• pure libraries nothing to do with arci (openrr-planner, ...)

Currently we have some tools to control real/sim robots.

See openrr-apps for details.

Inspired by joint_state_publisher_gui

You can use this GUI not only for ROS but anything if you implement arci::JointTrajectoryClient and write a small binary main function.

General CLI to access arci robot clients. It supports not only sending joint trajectory directly but it supports inverse kinematics with self-collision check, and navigation.

To format use nightly rustfmt,

cargo +nightly fmt

Licensed under the Apache License, Version 2.0.

• k : kinematics library
• ros-nalgebra : rosrust nalgebra converter generator
• rrt : RRT-dual-connect path planner
• trajectory : trajectory interpolator
• urdf-rs : URDF parser
• urdf-viz: URDF visualizer
• gear : (deprecated) motion planning library, but it is openrr-planner now.

We strongly believe that Rust is the future of robotics. OpenRR is the world first robotics platform which is made by Rust, made for Rust. It can be a reference, a base for the future robotic people, like us.

We appreciate for your any contributions! Create an issue at first!

Here is a discord server.

You can read the tutorial books at the following links.

• English
• Japanese