ROS 2 Java client library

Introduction

This is a set of projects (bindings, code generator, examples and more) that enables developers to write ROS 2 applications for the JVM and Android.

Besides this repository itself, there's also:

• https://github.com/ros2-java/ament_java, which adds support for Gradle to Ament
• https://github.com/ros2-java/ament_gradle_plugin, a Gradle plugin that makes it easier to use ROS 2 in Java and Android project. The Gradle plugin can be installed from Gradle Central https://plugins.gradle.org/plugin/org.ros2.tools.gradle
• https://github.com/ros2-java/ros2_java_examples, examples for the Java Runtime Environment
• https://github.com/ros2-java/ros2_android_examples, examples for Android

Is this Java only?

No, any language that targets the JVM can be used to write ROS 2 applications.

Including Android?

Yep! Make sure to use Fast-RTPS as your DDS vendor and at least this revision.

Features

The current set of features include:

• Generation of all builtin and complex ROS types, including arrays, strings, nested types, constants, etc.
• Support for publishers and subscriptions
• Tunable Quality of Service (e.g. lossy networks, reliable delivery, etc.)
• Clients and services
• Timers
• Composition (i.e. more than one node per process)
• Time handling (system and steady, ROS time not yet supported ros2-java#122)
• Support for Android
• Parameters services and clients (both asynchronous and synchronous)

Sounds great, how can I try this out?

Install dependencies

Note: While the following instructions use a Linux shell the same can be done on other platforms like Windows with slightly adjusted commands.

1. Install ROS 2.

2. Install Java and a JDK.

   On Ubuntu, you can install OpenJDK with:

    sudo apt install default-jdk
   

3. Install Gradle. Make sure you have Gradle 3.2 (or later) installed.

   Ubuntu Bionic or later

    sudo apt install gradle
   

4. Install build tools:

    sudo apt install curl python3-colcon-common-extensions python3-pip python3-vcstool
   

5. Install Gradle extensions for colcon:

    python3 -m pip install -U git+https://github.com/colcon/colcon-gradle
    python3 -m pip install --no-deps -U git+https://github.com/colcon/colcon-ros-gradle
   

Download and Build ROS 2 Java for Desktop

1. Source your ROS 2 installation, for example:

    source /opt/ros/humble/setup.bash
   

2. Download the ROS 2 Java repositories into a workspace:

    mkdir -p ros2_java_ws/src
    cd ros2_java_ws
    curl -skL https://raw.githubusercontent.com/minecraft-ros2/ros2_java/main/ros2_java_desktop.repos | vcs import src
   

3. Linux only Install ROS dependencies:

    rosdep install --from-paths src -y -i --skip-keys "ament_tools"
   

4. Build desktop packages:

    colcon build
   

   Note, Do not use symlink-install

Contributing

Contributions are more than welcome! If you'd like to contribute to the project, please read CONTRIBUTING for contributing guidelines.