Struct ros2_client::Client

pub struct Client<S>
where
    S: Service,
    S::Request: Message,
    S::Response: Message,
{ /* private fields */ }

Client end of a ROS2 Service

Implementations

impl<S> Client<S>

where S: 'static + Service,

pub fn send_request(&self, request: S::Request) -> WriteResult<RmwRequestId, ()>

Send a request to Service Server. The returned RmwRequestId is a token to identify the correct response.

pub fn receive_response( &self ) -> ReadResult<Option<(RmwRequestId, S::Response)>>

Receive a response from Server Returns Ok(None) if no new responses have arrived. Note: The response may to someone else’s request. Check received RmWRequestId against the one you got when sending request to identify the correct response. In case you receive someone else’s response, please do receive again.

pub async fn async_send_request( &self, request: S::Request ) -> WriteResult<RmwRequestId, ()>

Send a request to Service Server asynchronously. The returned RmwRequestId is a token to identify the correct response.

pub async fn async_receive_response( &self, request_id: RmwRequestId ) -> ReadResult<S::Response>

Receive a response from Server The returned Future does not complete until the response has been received.

pub async fn async_call_service( &self, request: S::Request ) -> Result<S::Response, CallServiceError<()>>

pub async fn wait_for_service(&self, my_node: &Node)

Wait for a Server to be connected to the Request and Response topics.

This does not distinguish between diagnostinc tools and actual servers. It is enough that someone has subscribed the Requests, and someone is a publisher for Responses.

May panic, if the Node does not havea background Spinner running.

Trait Implementations

impl<S> Evented for Client<S>

where S: 'static + Service,

fn register( &self, poll: &Poll, token: Token, interest: Ready, opts: PollOpt ) -> Result<()>

Register self with the given Poll instance.

fn reregister( &self, poll: &Poll, token: Token, interest: Ready, opts: PollOpt ) -> Result<()>

Re-register self with the given Poll instance.

fn deregister(&self, poll: &Poll) -> Result<()>

Deregister self from the given Poll instance