Fortran-ROS2 Integration

A minimal Fortran binding for ROS2 that enables Fortran programs to participate in ROS2 communication networks.

Features

• Native Fortran API for ROS2 nodes, publishers, and subscribers
• Support for multiple message types:
  • Float64MultiArray for numeric data
  • String messages for text communication
• Non-blocking communication patterns
• Docker-based development environment
• Cross-platform support (ARM64/AMD64)

Quick Start

1. Clone the repository

   git clone https://github.com/AChompSitsIn/rclf.git
   cd fortran-ros2

2. Build and start the Docker container

   docker-compose build
   docker-compose up -d

3. Enter the container and build the workspace

   docker exec -it fortran_ros2_dev bash
   cd /ros2_ws
   source /opt/ros/humble/setup.bash
   colcon build --packages-select fortran_ros2
   source install/setup.bash

Basic Operations

use ros2_fortran

! Initialize node
type(ros2_node) :: node
call ros2_init(node, "my_node_name")

! Create publisher
type(ros2_publisher) :: pub
call create_publisher(node, pub, "/topic_name")

! Publish data
real(8) :: data(3) = [1.0, 2.0, 3.0]
call publish(pub, data)

! Create subscriber
type(ros2_subscriber) :: sub
call create_subscriber(node, sub, "/topic_name")

! Subscribe (non-blocking)
real(8), allocatable :: received_data(:)
if (subscribe(sub, received_data)) then
    ! Process received_data
end if

! Spin and shutdown
call spin_once(node, 10)  ! 10ms timeout
call shutdown(node)

String Messages

! String publisher
type(ros2_publisher) :: str_pub
call create_string_publisher(node, str_pub, "/chat")
call publish_string(str_pub, "Hello ROS2!")

! String subscriber
type(ros2_subscriber) :: str_sub
character(len=:), allocatable :: message
call create_string_subscriber(node, str_sub, "/chat")
if (subscribe_string(str_sub, message)) then
    print *, "Received: ", message
end if

License

This project is licensed under the MIT License - see the LICENSE file for details.