added rust node and the rust to cpp message

Author: Adam Ligocki

ros/.gitignore

@@ -1,6 +1,13 @@
+# ROS
 **/build/
 **/devel/
+
+# CLion and Pycharm
 **/.idea/
 **/cmake*/
 **/__pycache__/
 **/.catkin_workspace
+
+# Rust
+**/Cargo.lock
+**/target

ros/src/cpp_node/src/main.cpp

@@ -17,7 +17,9 @@ class Controller {
 private:
 
     void subscriber_callback (const std_msgs::Header& msg) const {
-        std::cout << "Received msg with seq: " << msg.seq << std::endl;
+
+        auto delay = ros::Time::now() - msg.stamp;
+        std::cout << "Message delay: " << delay << " sec" << std::endl;
     }
 
     void timer_callback (const ros::TimerEvent& event) const {

ros/src/rust_node/Cargo.toml

@@ -0,0 +1,10 @@
+[package]
+name = "rust_node"
+version = "1.1.0"
+authors = ["Adam Ligocki <[email protected]>"]
+edition = "2018"
+license = "MIT"
+
+[dependencies]
+rosrust = "0.9"
+rosrust_msg = "0.1"

ros/src/rust_node/src/main.rs

@@ -0,0 +1,15 @@
+use rosrust;
+
+fn main() {
+
+    rosrust::init("rust_node");
+
+    let publisher = rosrust::publish("rust_to_cpp", 0).unwrap();
+    let subscriber_info = rosrust::subscribe("python_to_rust", 1, move |v: rosrust_msg::std_msgs::Header| {
+        rosrust::ros_info!("Received: {}", v.seq);
+        publisher.send(v).unwrap();
+    })
+        .unwrap();
+
+    rosrust::spin();
+}