Struct ros2_client::Node

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pub struct Node { /* private fields */ }

Expand description

Node in ROS2 network. Holds necessary readers and writers for rosout and parameter events topics internally.

These are produced by a Context.

Implementations§

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impl Node

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pub fn time_now(&self) -> ROSTime

Return the ROSTime

It is either the system clock time

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pub fn time_now_not_simulated(&self) -> ROSTime

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pub fn spinner(&mut self) -> CreateResult<Spinner>

Create a Spinner object to execute Node backround tasks.

An async task should then be created to run the .spin() function of Spinner.

E.g. executor.spawn(node.spinner().spin())

The .spin() task runs until Node is dropped.

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pub fn have_spinner(&self) -> bool

A heuristic to detect if a spinner has been created. But this does still not guarantee that it is running, i.e. an async excutor is runnning spinner.spin(), but this is the best we can do.

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pub fn has_parameter(&self, name: &str) -> bool

Does the parameter exist?

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pub fn set_parameter( &self, name: &str, value: ParameterValue ) -> Result<(), String>

Sets a parameter value. Parameter must be declared before setting.

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pub fn allow_undeclared_parameters(&self) -> bool

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pub fn get_parameter(&self, name: &str) -> Option<ParameterValue>

Gets the value of a parameter, or None is there is no such Parameter.

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pub fn list_parameters(&self) -> Vec<String>

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pub fn status_receiver(&self) -> Receiver<NodeEvent>

Get an async Receiver for discovery events.

There must be an async task executing spin to get any data.

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pub fn rosout_subscription(&self) -> Option<&Subscription<Log>>

Borrow the Subscription to our ROSOut Reader.

Availability depends on Node configuration.

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pub fn rosout_raw( &self, timestamp: Timestamp, level: LogLevel, log_name: &str, log_msg: &str, source_file: &str, source_function: &str, source_line: u32 )

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pub fn create_topic( &self, topic_name: &Name, type_name: MessageTypeName, qos: &QosPolicies ) -> CreateResult<Topic>

Creates ROS2 topic and handles necessary conversions from DDS to ROS2

§Arguments

domain_participant - DomainParticipant
name - Name of the topic
type_name - What type the topic holds in string form
qos - Quality of Service parameters for the topic (not restricted only to ROS2)

summary of all rules for topic and service names in ROS 2 (as of Dec 2020)
must not be empty
may contain alphanumeric characters ([0-9|a-z|A-Z]), underscores (_), or forward slashes (/)
may use balanced curly braces ({}) for substitutions
may start with a tilde (~), the private namespace substitution character
must not start with a numeric character ([0-9])
must not end with a forward slash (/)
must not contain any number of repeated forward slashes (/)
must not contain any number of repeated underscores (_)
must separate a tilde (~) from the rest of the name with a forward slash (/), i.e. ~/foo not ~foo
must have balanced curly braces ({}) when used, i.e. {sub}/foo but not {sub/foo nor /foo}

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pub fn create_subscription<D: 'static>( &mut self, topic: &Topic, qos: Option<QosPolicies> ) -> CreateResult<Subscription<D>>

Creates ROS2 Subscriber

§Arguments

topic - Reference to topic created with create_ros_topic.
qos - Should take QOS and use if it’s compatible with topics QOS. None indicates the use of Topics QOS.

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pub fn create_publisher<D: Serialize>( &mut self, topic: &Topic, qos: Option<QosPolicies> ) -> CreateResult<Publisher<D>>

Creates ROS2 Publisher

§Arguments

topic - Reference to topic created with create_ros_topic.
qos - Should take QOS and use it if it’s compatible with topics QOS. None indicates the use of Topics QOS.

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