rclgd Documentation

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Welcome to the documentation for rclgd, a ROS2 GDExtension for Godot Engine 4. rclgd allows you to seamlessly integrate ROS2 into your Godot projects, providing high-performance communication and easy-to-use GDScript wrappers. Developed and maintained by Ozuba.

Motivation

The rclgd library is designed to bring the power of ROS2 to Godot, enabling developers to build sophisticated robotic simulations, digital twins, and interface applications with ease.

  • Seamless Integration: Use ROS2 nodes directly within Godot (now with Godot 4.7 support).

  • High Performance: Built on top of rclcpp and ros_babel_fish for efficient message handling.

  • GDScript Friendly: Simple and intuitive API for GDScript users, with typed message wrappers generated automatically from your package's dependencies.

  • Dynamic Messaging: Support for custom ROS2 messages without recompilation thanks to BabelFish.

  • Full Communication Support: Full support for Publishers, Subscribers, Timers, as well as awaitable Services and Actions.

  • Advanced ROS2 Features: Comprehensive Quality of Service (QoS) support, parameters (including arrays) and simulation time.

  • First-class Tooling: Godot projects are native colcon packages (build_type: rclgd), managed end to end by the ros2 rclgd command.