otamachan

otamachan / rclcpp_async

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A header-only C++20 coroutine library that brings async/await to ROS 2

async-await coroutines cpp20 robotics ros
16
2
100% credibility
Found Feb 12, 2026 at 10 stars -- GitGems finds repos before they trend. Get early access to the next one.
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AI Analysis
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AI Summary

A header-only library bringing coroutine-based async/await syntax to ROS 2 for writing simpler, deadlock-free robotics code.

How It Works

1
🔍 Discover smoother robot control

You hear about a helpful tool that lets robot parts talk to each other without getting stuck or complicated waits.

2
📥 Add it to your project

You place the tool into your robot software folder alongside your other building blocks.

3
✍️ Write easy instructions

You describe what your robot should do in simple steps, like 'wait for a message then respond' – it feels natural and straightforward.

4
▶️ Start your robot

You launch the program and watch as everything runs together smoothly.

🎉 Perfect teamwork

Your robot listens, responds, and handles multiple jobs at once without any freezes or confusion – just reliable action.

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AI-Generated Review

What is rclcpp_async?

rclcpp_async is a header-only C++20 coroutine library that brings async/await to ROS 2, letting you write rclcpp nodes as linear code instead of callback chains. Drop it into your workspace, include the header, and co_await services with rclcpp async_send_request, topic streams, timers, actions, or TF lookups--all driven by standard rclcpp spin on a single-threaded executor. It eliminates deadlocks, mutexes, and state machines for cleaner async ROS code.

Why is it gaining traction?

ROS devs hate nested callbacks and blocking calls; this delivers true async/await with when_all for parallel requests, cancellable tasks, and streams for subscribers or action feedback, plus timeout racing and shielding for critical sections. Examples like rclcpp_async_client demos show rclcpp client async_send_request or action goals flowing sequentially, with no executor changes needed. Header-only on GitHub means zero build hassle, just colcon build.

Who should use this?

ROS 2 node authors handling services, actions, or multi-topic subscribers on single-threaded setups, especially robotics folks chaining calls without multi-threading. Action server implementers needing feedback loops or cancellation cleanup, or anyone prototyping with rclcpp asyncspinner alternatives. Skip if you're locked to older C++ or non-Jazzy ROS.

Verdict

Promising early experiment for C++20 ROS fans--solid docs, launch-ready examples_rclcpp_async_client, and benchmarks beat callbacks--but at 10 stars and 1.0% credibility, treat as alpha: test thoroughly before production. Grab it if coroutines click for you.

(198 words)

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