Module rustdds::ros2

ROS2 interface using DDS module

Examples

use rustdds::dds::DomainParticipant;
use rustdds::dds::data_types::TopicKind;
use rustdds::dds::traits::Entity;
use rustdds::ros2::RosContext;
use rustdds::ros2::RosParticipant;
use rustdds::ros2::NodeOptions;
use rustdds::ros2::RosNode;
use rustdds::ros2::IRosNodeControl;
use rustdds::ros2::RosNodeBuilder;
use rustdds::ros2::builtin_datatypes::NodeInfo;
use rustdds::dds::qos::QosPolicies;
use rustdds::serialization::CDRSerializerAdapter;


// DomainParticipant is always needed
let domain_participant = DomainParticipant::new(0);

// RosContext should be defined for each thread and second parameter set true if RosParticipant
// is handled in this thread
let ros_context = RosContext::new(domain_participant.clone(), true).unwrap();

// RosParticipant is needed for defined RosNodes to be visible in ROS2 network.
let mut ros_participant = RosParticipant::new(&ros_context).unwrap();

// Node options simply adjust configuration of the node (as in ROS Client library (RCL)).
let ros_node_options = NodeOptions::new(domain_participant.domain_id(), false);

// Creating some topic for RosNode
let some_topic = RosNode::create_ros_topic(
    &domain_participant,
    "some_topic_name",
    "NodeInfo",
    QosPolicies::builder().build(),
    TopicKind::NoKey)
  .unwrap();

// Topic has to live longer that node or readers/writers
{
  // declaring ros node using builder
  let mut ros_node = RosNodeBuilder::new()
    .name("some_node_name")
    .namespace("/some_namespace")
    .node_options(ros_node_options)
    .ros_context(&ros_context)
    .build()
    .unwrap();

  // declaring some writer that use non keyed types
  let some_writer = ros_node
    .create_ros_nokey_publisher::<NodeInfo, CDRSerializerAdapter<_>>(
      &some_topic, None)
    .unwrap();

  // RosNode needs to be updated manually about our writers and readers (lifetime magic)
  ros_node.add_writer(some_writer.get_guid());

  // Readers and RosParticipant implement mio Evented trait and thus function the same way as
  // std::sync::mpcs and can be handled the same way for reading the data

  // When you add or remove nodes remember to update RosParticipant so others in the ROS2
  // network can find your nodes
  ros_participant.add_node_info(ros_node.generate_node_info());
}

Modules

builtin_datatypes	Some builtin datatypes needed for ROS2 communication
builtin_topics	Some convenience topic infos for ROS2 communication

Structs

NodeOptions	Configuration of RosNode
RosContext	Is a helper for keeping lifetimes in check. In addition, RosContext holds DDS Publisher and Subscriber for creating readers and writers. There has to be a RosContext for each thread and they cannot be shared between threads.
RosNode	Node in ROS2 network. Holds necessary readers and writers for rosout and parameter events topics internally. Should be constructed using builder.
RosNodeBuilder	Builder for RosNodes
RosParticipant	RosParticipant sends and receives other participants information in ROS2 network

Traits

IRosNode	Trait for RCL interface
IRosNodeControl	Trait for necessary DDS interface functions

Type Definitions

KeyedRosPublisher
KeyedRosSubscriber
RosPublisher
RosSubscriber