rosrust vs rospy

build.rs

#[macro_use] extern crate rosrust_codegen;

rosmsg_main!("sensor_msgs/Image");

Cargo.toml

[package]
name = "node"
version = "0.1.0"
authors = ["alex"]

[dependencies]
error-chain = "0.12"
rosrust = "0.6.5"
rosrust_codegen = "0.6.5"
serde = "1.0.25"
serde_derive = "1.0.25"

[build-dependencies]
rosrust_codegen = "0.6.5"

python.py

import rospy
from sensor_msgs.msg import Image

class sub_cb:
    def __init__(self, pub):
        self.pub = pub
        self.i = 1

    def __call__(self, data):
        print self.i
        self.i += 1
        self.pub.publish(data)

def main():
    print 'starting'
    rospy.init_node('node')
    
    pub = rospy.Publisher('/out', Image, queue_size=10)
    sub = rospy.Subscriber('/in', Image, sub_cb(pub))
    
    print 'finished setup'
    rospy.spin()
    print 'shutting down'

if __name__ == '__main__':
    main()

src_main.rs

#[macro_use] extern crate error_chain;
#[macro_use] extern crate rosrust;
#[macro_use] extern crate rosrust_codegen;

rosmsg_include!();
use std::cell::RefCell;
use std::sync::atomic::{AtomicUsize, Ordering};

error_chain! {
    foreign_links {
        Ros(rosrust::error::Error);
    }
}

quick_main!(|| -> Result<()> {
    // Initialize node
    rosrust::init("node");

    ros_info!("Starting up");

    let img_pub = RefCell::new(rosrust::publish("/out")?);
    img_pub.borrow_mut().set_queue_size(Some(10));

    let idx = AtomicUsize::new(0);
    let _img_sub = rosrust::subscribe("/in",
                                      move |v: msg::sensor_msgs::Image| {
                                          let i = idx.load(Ordering::SeqCst) + 1;
                                          ros_info!("Received frame #{}: {}x{} {}!", i, v.height, v.width, v.encoding);
                                          idx.store(i, Ordering::SeqCst);

                                          img_pub.borrow_mut().send(v).unwrap();
                                      })?;

    // Block the thread until a shutdown signal is received
    rosrust::spin();
    ros_info!("Shutting down");
    Ok(())
});