Spanda

spanda-transport-ros2

ROS 2 transport backend for Spanda. Extracted from spanda-core as part of the lean-core architecture.

Backends

1. Native rclrs — dynamically loads libspanda_ros2_rclrs_native when SPANDA_ROS2_RCLRS=1
2. rclpy daemon — persistent subprocess via scripts/spanda_ros2_daemon.py
3. Live bridge — optional ros2 CLI (SPANDA_ROS2_NATIVE=1) or per-call Python bridge (SPANDA_ROS2_LIVE=1) via live_bridge

Spanda core routes live transport through spanda-transport-routing (transport_live, live_bridges).

Related crates

• spanda-ros2-rclrs-native — build the native cdylib (requires ROS 2 Humble)
• spanda-mqtt — official package under packages/registry/spanda-ros2

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