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zenrc
基于 CycloneDDS 的高层发布/订阅与服务框架。
该 crate 在 zenrc-dds 提供的原始 FFI 绑定之上封装了更符合 Rust 惯用法的接口，
包括类型化的发布者（[dds::publisher::Publisher]）、订阅者（[dds::subscriber::Subscription]）、
服务端/客户端（[dds::service]）以及异步事件回调机制。
快速上手
use zenrc::dds::context::{DdsContext, DOMAIN_DEFAULT};
use zenrc::dds::qos::Qos;
use zenrc::msg::std_msgs::StringMsg;
# fn main() -> zenrc::dds::error::Result<()> {
let ctx = DdsContext::new(DOMAIN_DEFAULT)?;
let pub_ = ctx.create_publisher::<StringMsg>("chatter", Qos::default())?;
let sub = ctx.create_subscriber::<StringMsg>("chatter", Qos::default())?;
# Ok(())
# }
模块概览
| 模块 | 说明 |
|---|---|
[dds::context] |
域参与者与共享 WaitSet 上下文 |
[dds::publisher] |
类型化写者 |
[dds::subscriber] |
类型化读者及异步事件回调 |
[dds::service] |
请求/应答服务端与客户端 |
[dds::qos] |
QoS 策略 Builder |
[dds::error] |
错误类型 |
[msg] |
重导出的 ROS2 消息类型 |