Module @pamoja/ros2

Ergonomic facade over the generated ROS 2 binding.

What makes a topic name legal, what it becomes on the DDS wire, the RIHS type hash that identifies a message definition, and the CDR encoding the payload itself is written in.

None of it needs a ROS 2 installation. A gateway written in TypeScript can validate a name, derive the DDS topic and the Zenoh key an rmw_zenoh peer subscribes on, and encode a geometry_msgs/msg/Twist with no ROS distribution anywhere near it. Driving a live graph does need one, so that stays in the Rust crate.

@pamoja/ros2

ROS 2 names, RIHS01 type hashes, CDR encoding, and rmw_zenoh key assembly, with no ROS 2 installed. One capability of pamoja, one memory-safe Rust core with bindings for TypeScript, Python, and C#.

Install

npm install @pamoja/ros2

This pulls in @pamoja/native, the compiled engine. npm install pamoja is the whole framework in one package.

Example

The test that runs in CI, spliced here as it ran.

From bindings/node/guides/ros2.ts:

import { EntityKind, name } from '@pamoja/ros2'

// A name is slash-separated tokens. A token may hold letters, digits, and underscores, and
// may not begin with a digit, which is the rule that catches most generated names.
for (const candidate of ['/robot1/camera_left/image_raw', '/2foo']) {
  console.log(`${candidate} is a valid name: ${name.isValid(candidate)}`)
}
console.log(`chatter is fully qualified: ${name.isFullyQualified('chatter')}`)
console.log(`/chatter is fully qualified: ${name.isFullyQualified('/chatter')}`)

// On the wire a topic carries a prefix that says what kind of endpoint it is, so a
// subscription and a service request never collide in the same DDS partition.
const published = name.ddsTopic('/robot1/cmd_vel', EntityKind.Topic)
const asked = name.ddsTopic('/robot1/add', EntityKind.ServiceRequest)
const answered = name.ddsTopic('/robot1/add', EntityKind.ServiceResponse)
console.log(`a topic    becomes ${published}`)
console.log(`a request  becomes ${asked}`)
console.log(`a response becomes ${answered}`)

// A message type maps to a DDS type name the same way, so both ends agree on what is being
// carried before a byte is exchanged.
console.log(`std_msgs/msg/String becomes ${name.ddsTypeName('std_msgs/msg/String')}`)
console.log(`a malformed type name becomes ${name.ddsTypeName('not a type')}`)

The same capability in every language

Language	Package	Reference
Rust	`pamoja-ros2`	reference, docs.rs, install
TypeScript	`@pamoja/ros2`	reference, install
Python	`pamoja-ros2`	reference, install
C#	`Pamoja.Ros2`	reference, install