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👋 Welcome to the RustyRover wiki! 🦀 🐢
Would you like to build your first diff drive rover running mainly built in Rust (yeah we were not able to build it solely in rust ...). It aims at exploring the rclrs Rust Ros2 client library together with the Pixi package management system. It is a great starting point to start learning rust or dive in how you can build ROS2 project with rust. We made sure to explore all the main tools you wait from a ROS2 client :
- Service client/server: For the camera snapshot.
- Action client/server: For the spinner.
- publisher/subscriber: pretty much everywhere
- Logging: pretty much everywhere
The project is built to be understandable for beginners and still be interesting for more experienced people. This repository is divided in three separate folders, each having a different purpose.
Warning
❗ Disclaimer: as of right now, none of the contributor of this repo is experienced with rust programming, don't take those nodes as a masterpiece, but take it as it is, and feel free to contribute if you found better ways to build rclrs code ❗
Using the Ratatui tool, it implements a TUI (Terminal User Interface) on top of a BlueR BLE (Bluetooth Low Energy) client. Click here to see the tutorial on how to use the TUI and here for a technical explanation.
Considering that (as of January 2026) rclrs isn't deployed in any ROS2 Distro, the less tedious way to install the client is to build it in its own workspace, and then source it the main rover workspace.
This folder contains all the source code to run the RustyRover robot. This is, of course, the central workspace of this repository.
The project can be built using two laptops (one for the remote and one for the simulation) or one laptop and a RustyRover.
⚙️ Installing the hardware dependencies
This tutorial is divided to match your knowledge in robotics and software. The beginner's tutorial will take you through all the steps from the raspberry setup to the installation of Pixi. The intermediate tutorial will show explain how this project is organized and how to extend it. The pro 🔥 tutorial will just show how to use the main rclrs tools.
