Message types

Cerulion ships ROS2-compatible message types in the native_ros2_messages crate, generated from ROS2 Jazzy .msg files at build time. There are 20 packages. Import a type from its package:

use native_ros2_messages::sensor_msgs::Image;

Packages and representative types

The following table lists the packages with representative types from each. Type names are the PascalCase form of the source .msg file.

Package	Representative types
`action_msgs`	Action-related message types.
`builtin_interfaces`	Time, Duration.
`control_msgs`	JointTrajectoryControllerState, DynamicJointState, JointJog, PidState, GripperCommand.
`diagnostic_msgs`	Diagnostic message types.
`geometry_msgs`	Point, Point32, Pose, Pose2D, PoseArray, Quaternion, Transform, Twist, Vector3, Accel, Inertia, Polygon.
`grid_map_msgs`	GridMap, GridMapInfo.
`moveit_msgs`	CollisionObject, AttachedCollisionObject, DisplayTrajectory, Constraints, Grasp.
`nav_msgs`	Odometry, Path, OccupancyGrid, MapMetaData, GridCells.
`object_recognition_msgs`	RecognizedObject, RecognizedObjectArray, ObjectInformation.
`octomap_msgs`	Octomap, OctomapWithPose.
`radar_msgs`	RadarReturn, RadarScan, RadarTrack, RadarTracks.
`sensor_msgs`	Image, Imu, LaserScan, JointState, PointCloud2, CameraInfo, CompressedImage, NavSatFix, BatteryState, Range.
`shape_msgs`	Shape primitive types.
`statistics_msgs`	Statistics message types.
`std_msgs`	Header, String, Bool, Byte, Char, ColorRGBA, Empty, Float32/64, Int8/16/32/64, UInt8/16/32/64, and the `*MultiArray` family.
`tf2_msgs`	Transform-tree message types.
`trajectory_msgs`	Trajectory types.
`unique_identifier_msgs`	UUID.
`vision_msgs`	Detection2D, Detection2DArray, Detection3D, Detection3DArray, BoundingBox2D, BoundingBox3D, Classification, ObjectHypothesis, ObjectHypothesisWithPose, VisionInfo.
`visualization_msgs`	Marker, MarkerArray.

ROS2-to-Rust type mapping

schema info displays Rust types using this mapping:

ROS2 type	Rust type
`bool`	`bool`
`byte` / `uint8`	`u8`
`char` / `int8`	`i8`
`uint16`	`u16`
`int16`	`i16`
`uint32`	`u32`
`int32`	`i32`
`uint64`	`u64`
`int64`	`i64`
`float32`	`f32`
`float64`	`f64`
`string`	`String`
`T[]`	`Vec<T>`

Fixed vs variable fields

Fixed-size primitive fields are written directly — the write goes straight to shared memory, for example self.image.height = 480. Variable-length fields (string, T[]) must be listed in the #[output(...)] attribute; once listed, plain assignment works for them too. See the Node macro reference for the #[output(...)] keys.

use native_ros2_messages::sensor_msgs::Image;
// in tick (with #[output(data, encoding)] image: Image):
self.image.height = 480;            // fixed field, direct write
self.image.width  = 640;
self.image.encoding = "rgb8";       // variable field — plain assignment, listed in #[output]

In your node struct, a message type is used by name as a port field — for example image: Image — and read or written through plain field access inside tick().

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Concepts

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Reference

Packages and representative types

ROS2-to-Rust type mapping

Fixed vs variable fields

​Packages and representative types

​ROS2-to-Rust type mapping

​Fixed vs variable fields

Packages and representative types

ROS2-to-Rust type mapping

Fixed vs variable fields