What is roc?

roc is a tool that wants to help you to develop ROS2 applications faster and easier. It is a collection of tools that are used to generate code, build and test your ROS2 applications. It is based on the ROS2 CLI.

Why roc?

roc aims to be a tool that will completely be written in RUST and at some point not relay on the ROS2 CLI anymore. This will allow us to have a tool that is faster and more reliable. It will also allow us to have a tool that can be used on other platforms like Windows.

Features

  • Generate ROS2 packages with a template system
  • Build ROS2 packages (colcon at the moment) but will be replaced by a custom build system
  • Adding missing feature that IMO ros2 cli should have like:
    • roc frame to work with tf frames, cordination systems and transformations
    • roc bridge to bridge topics between different ROS2 instances
  • Adding TUI (Text User Interface) to make it easier to work with ROS2

Installation

Install ROS2

Setup Sources

You will need to add the ROS 2 apt repository to your system. First ensure that the Ubuntu Universe repository is enabled.

sudo apt install software-properties-common
sudo add-apt-repository universe

Now add the ROS 2 GPG key with apt.

sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

Then add the repository to your sources list.

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

Install ROS 2 packages

Update your apt repository caches after setting up the repositories.

sudo apt update

ROS 2 packages are built on frequently updated Ubuntu systems. It is always recommended that you ensure your system is up to date before installing new packages.

sudo apt upgrade

sudo apt install ros-humble-desktop

ROS-Base Install (Bare Bones): Communication libraries, message packages, command line tools. No GUI tools.

sudo apt install ros-humble-ros-base

Install additional RMW implementations

sudo apt install ros-humble-rmw*

Development tools: Compilers and other tools to build ROS packages

sudo apt install ros-dev-tools

Install foxglove and rosbridge

sudo apt install ros-humble-foxglove*
sudo apt install ros-humble-rosbridge*

Install ros2 tf2 tools

sudo apt install ros-humble-tf2*
su

Install roc

Cargo

cargo install rocc

From Source

git clone
cd rocc
cargo install --path .