tf2_rs

tf2_rs provides Rust bindings for a focused subset of ROS 2 TF2. It wraps tf2::BufferCore through cxx, integrates with rclrs, and exposes Rust-first types for transform lookup, listening, broadcasting, and PointCloud2 transforms.

Status

• Developed and validated primarily against ROS 2 Jazzy. Supports Humble, Jazzy, Kilted and Lyrical. (A know issue in rclrs blocks compilation for Lyrical currently but should be fixed soon)
• Recommended build path: ament_cargo inside a sourced ROS 2 workspace.
• Currently implemented Transformable support: sensor_msgs::msg::PointCloud2.
• This crate is not a full tf2_ros replacement yet; it covers the core pieces needed for TF lookup and a small set of transform operations from Rust.

Public API

The current crate surface is centered on these types:

• BufferCore: store transforms, query availability, look them up, and apply them to supported message types.
• TransformListener: subscribe to /tf and /tf_static and keep a shared BufferCore updated.
• TransformBroadcaster and StaticTransformBroadcaster: publish transforms from Rust nodes.
• TransformStamped: owned Rust representation of a TF transform, with conversion to and from geometry_msgs::msg::TransformStamped.
• LookupTime and TimeSpec: choose Latest, a specific timestamp, or a timestamp taken from a message header.
• TransformAvailability: richer result for preflight checks via BufferCore::check_transform.
• Transformable and HasHeader: traits used by supported transformable messages.
• Tf2Error: Rust error enum for TF lookup, connectivity, extrapolation, and argument failures.

Frame semantics follow TF2: lookup_transform(target, source, when) returns the transform target <- source, which is the transform you use to express data from source in target.

Requirements

• ROS 2 installed locally and sourceable from /opt/ros/<distro>/setup.bash
• Stable Rust toolchain
• cargo, colcon, rosdep, and a C++17-capable compiler
• A ROS 2 Rust overlay that provides the generated message crates used by this package: geometry_msgs, sensor_msgs, std_msgs, and tf2_msgs

build.rs reads ROS_DISTRO and AMENT_PREFIX_PATH. If your shell is not sourced before building, the crate will fail to compile.

Installation

Recommended workflow

Build tf2_rs inside a ROS 2 workspace that already has rosidl_rust and the generated Rust message crates available.

If you already have such an overlay, add this package under src/ and run:

source /opt/ros/<distro>/setup.bash
colcon build --symlink-install --packages-up-to tf2_rs
source install/setup.bash

Minimal workspace

If you do not already have a Rust-enabled ROS 2 overlay, this is a minimal workspace layout that matches the package dependencies used by tf2_rs today (example for jazzy):

mkdir -p ~/tf2_rs_ws/src
cd ~/tf2_rs_ws/src

git clone https://github.com/olingo99/tf2_rs.git tf2_rs
git clone -b jazzy https://github.com/ros2/common_interfaces.git
git clone -b jazzy https://github.com/ros2/example_interfaces.git
git clone -b jazzy https://github.com/ros2/rcl_interfaces.git
git clone -b jazzy https://github.com/ros2/rosidl_core.git
git clone -b jazzy https://github.com/ros2/rosidl_defaults.git
git clone -b jazzy https://github.com/ros2/unique_identifier_msgs.git
git clone https://github.com/ros2-rust/rosidl_rust.git
git clone -b jazzy https://github.com/ros2/geometry2.git

Install system dependencies and build the crate:

cd ~/tf2_rs_ws
source /opt/ros/jazzy/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-up-to tf2_rs
source install/setup.bash

Usage

Manual transform insertion and lookup

use std::time::Duration;

use tf2_rs::{BufferCore, LookupTime, Tf2Error, TransformStamped};

fn main() -> Result<(), Tf2Error> {
    let mut buffer = BufferCore::new(Duration::from_secs(10));

    buffer.set_transform(
        &TransformStamped {
            stamp_sec: 1,
            stamp_nanosec: 0,
            parent_frame: "map".to_string(),
            child_frame: "base_link".to_string(),
            translation: [1.0, 2.0, 0.0],
            rotation: [0.0, 0.0, 0.0, 1.0], // x, y, z, w
        },
        "manual",
        true,
    )?;

    let tf = buffer.lookup_transform("map", "base_link", LookupTime::Latest)?;
    println!("{tf:?}");

    Ok(())
}

Listen on /tf and transform a PointCloud2

TransformListener owns the subscriptions that populate the buffer, so it must be kept alive for as long as you want TF updates.

use std::time::Duration;

use rclrs::{Context, RclrsError, SpinOptions};
use sensor_msgs::msg::PointCloud2;
use tf2_rs::{BufferCore, TimeSpec, TransformListener};

fn main() -> Result<(), RclrsError> {
    let context = Context::default_from_env()?;
    let mut executor = context.create_basic_executor();
    let node = executor.create_node("tf2_rs_cloud_example")?;

    let buffer = BufferCore::new(Duration::from_secs(10));
    let _listener = TransformListener::new(&node, buffer.clone())?;

    let buffer_cb = buffer.clone();
    let _sub = node.create_subscription::<PointCloud2, _>(
        "/cloud_in",
        move |msg: PointCloud2| {
            match buffer_cb.transform(&msg, "map", TimeSpec::FromMsg) {
                Ok(out) => println!("transformed cloud into {}", out.header.frame_id),
                Err(err) => eprintln!("transform failed: {err}"),
            }
        },
    )?;

    executor.spin(SpinOptions::default()).first_error()?;
    Ok(())
}

If you want lower-level control, call lookup_transform(...) yourself and then use msg.apply_transform(&tf) on any type that implements Transformable.

Contributing

Issues and PRs are welcome.

License

MIT. See LICENSE.