This is a lightweight reimplementation of core ROS concepts, focusing on roscore and topic-based communication for subscribing and publishing. Built entirely in Go without external libraries, it mimics essential ROS behavior in a minimalistic way. The roscore server manages message exchanges between nodes, while topics enable asynchronous communication.

This aims to mimic the essential behavior of ROS in a minimalistic way, making it easier to understand the underlying mechanisms while maintaining flexibility and performance due to Go’s concurrency model.

TODO

• ROS core
• Publish topic
• Subscribe to topic
• message types
• get topic metrics
• better CLI
• Create more realistic topic /cmd_vel or /raw_image
• ROS Node
• ROS simple client library
• ROS service
• ROS launch file

HOW TO USE

to build it,

1. Linux: simply run. Note SHELL_TYPE in Makefile may be different verify it if not working

make build

1. MacOs: change the SHELL_TYPE, to location of shell script (ie ~/.bashrc) in the Makefile, then run make build
2. Windows: use WSL, and follow Linux setup

commands

You can check it for yourself using.

mini_ros --help