You can also check https://github.com/sequenceplanner/r2r https://github.com/sequenceplanner/r2r for another example of ROS2 bindings (using in production at wo

You can also check https://github.com/sequenceplanner/r2r https://github.com/sequenceplanner/r2r for another example of ROS2 bindings (using in production at work for a couple of ROS nodes). But TBH, in a Rust world, it’s worth revisiting the assumptions behind the ROS node architecture, since Rust is so strong at scaling to large monolithic applications (due to the strict hierarchical code patterns it encourages). A transitional Rust approach, that doesn't try to reimplement everything from scratch, could do something like a strangler pattern: Take each ROS node, run them separately in “jails” with a Rust API around each one, then implement the plumbing/management logic in pure Rust.