A pure Java implementation of core ROS 1 client functionality that targets desktop and server JRE usage and newer Java and Gradle releases. Provides a library-oriented public API and includes changes in reliability, transport behavior, and developer experience.

• Targets the JRE on Windows, Linux, and macOS.
• Aims for a modern stack. Published artifacts are Java 17-compatible, while the build uses a Java 21 toolchain and Gradle 8.14.4.
• Keeps the core libraries and tutorial applications in one multi-project Gradle build.

• Persistent service-client behavior was tightened: shared connections now preserve response ordering, and pending calls fail explicitly on shutdown or transport failure.
• Listener dispatch now preserves per-listener order without overlapping callbacks and avoids idle thread-per-listener execution.
• Transport lifecycle handling is more predictable: subscriber handshake activation is delayed correctly, Netty resources are reused and released cleanly, and expected shutdown noise is reduced.
• Embedded RosCore startup and shutdown are easier to coordinate through awaitStart() and awaitShutdown(...).
• The public Java API was narrowed and clarified with stricter ROS message generics, reduced visibility, more deliberate final usage, and more specific collection return types.
• The build and publishing baseline was modernized around Java 17-compatible artifacts, a Java 21 toolchain, Gradle 8.14.4, refreshed dependencies, and maven-publish.

Practical usage notes for this repository are in USAGE.md.

• Java 17+ for consuming the published artifacts
• JDK 21 available to Gradle for local builds
• Access to mavenCentral()
• Access to the ROS Java Maven repository at https://github.com/SpyrosKou/rosjava_mvn_repo/raw/noetic

Published artifacts for this fork are available from the ROS Java Maven repository:

repositories {
    mavenCentral()
    maven {
        url = uri("https://github.com/SpyrosKou/rosjava_mvn_repo/raw/noetic")
    }
}

dependencies {
    implementation("org.ros.rosjava_core:rosjava:0.4.1.1")
    implementation("org.ros.rosjava_core:rosjava_geometry:0.4.1.1")
    implementation("org.ros.rosjava_core:rosjava_helpers:0.4.1.1")
}

Use the modules you actually need. rosjava is the core dependency; rosjava_geometry and rosjava_helpers are optional add-ons. For a complete end-to-end usage example, see Plain-ROS-Java-System-Example.

The tutorial modules remain useful as runnable examples. For example:

.\gradlew.bat :rosjava_tutorial_pubsub:installDist

Each tutorial application uses org.ros.RosRun as its entry point.

Run explicit Gradle tasks from the repository root.

On Windows:

.\gradlew.bat compileJava
.\gradlew.bat test

On Linux or macOS:

./gradlew compileJava
./gradlew test

Do not rely on invoking the wrapper with no task name. Several modules define publish and installDist as default tasks, so an unqualified gradlew run is not the safest entry point for normal development.

See MODULES.md.

Maintainer publishing notes are in PUBLISHING.md.

See LICENSE and LICENSING.md.

See CHANGELOG.rst.