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ROC - Feature Status

This document tracks ROC feature status at a high level.

Source of truth for command-by-command compatibility:

  • COMPAT.md

Legend

  • ✅ Native: implemented in Rust (no ros2 ... subprocess)
  • 🔄 Wrapper: delegates to ros2 ... for execution
  • 🧱 Stub/WIP: placeholder behavior

Core Commands Overview

Command Status Notes
roc topic ✅ Native graph + dynamic message tooling
roc service ✅/🔄 Native discovery; call currently delegates to ros2
roc param ✅ Native parameter service client
roc node ✅ Native graph introspection
roc action ✅/🔄 Native discovery; goal currently delegates to ros2
roc interface ✅ Native interface scanning + parsing
roc frame ✅ Native TF graph + query + static publish
roc bag ✅ Native MCAP record/play + rosbag2 metadata parsing
roc run ✅ Native executable discovery + execution
roc launch 🔄 Launch file discovery + ros2 launch execution
roc work ✅ Native workspace management + build system
roc idl ✅ Native IDL/protobuf tooling
roc completion ✅ Native completion generation
roc daemon 🧱 Placeholder
roc middleware 🧱 Placeholder

Notable Implementations

  • Dynamic topic tools: echo, pub, hz, bw, delay are implemented natively using rclrs dynamic subscriptions/publishers.
  • TF tooling: subscribes to /tf and /tf_static, builds a TF graph, resolves multi-hop transforms.
  • Bag tooling: records serialized CDR bytes into MCAP; plays MCAP back to ROS topics.
  • Workspace tooling: package discovery, dependency resolution, and a native colcon-like builder. Minimal ament_cmake validation is in place; ament_python still has known compatibility gaps.

Near-Term Priorities

  • Replace remaining ros2 wrappers (roc service call, roc action goal, and potentially roc launch).
  • Improve lifecycle control for long-running commands (graceful ctrl-c, flush/finalize outputs).
  • Implement real dynamic completions using native graph queries (topics/services/nodes/params).