Struct Ros2BridgeConfig 

pub struct Ros2BridgeConfig {

    pub transport: Ros2TransportConfig,
    pub topic: Option<String>,
    pub message_type: Option<String>,
    pub direction: Ros2Direction,
    pub topics: Option<Vec<Ros2TopicConfig>>,
    pub service: Option<String>,
    pub service_type: Option<String>,
    pub action: Option<String>,
    pub action_type: Option<String>,
    pub role: Option<Ros2Role>,
    pub qos: Ros2QosConfig,
    pub namespace: String,
    pub node_name: Option<String>,
}

ROS2 bridge configuration for declarative ROS2 bridging.

This allows nodes to interact with ROS2 topics, services, and actions without writing any custom code. The framework spawns a bridge binary that handles the ROS2 DDS communication and Arrow data conversion.

Exactly one of topic, topics, service, or action must be set.

Fields

transport: Ros2TransportConfig

Native transport used to communicate with the ROS2 graph.

Defaults to the existing DDS implementation.

topic: Option<String>

ROS2 topic name (e.g. “/camera/image_raw”). Mutually exclusive with topics, service, action.

message_type: Option<String>

ROS2 message type (e.g. “sensor_msgs/Image”). Required when topic is set.

direction: Ros2Direction

Direction: subscribe (ROS2 -> Dora) or publish (Dora -> ROS2). Defaults to subscribe. Only used with topic/topics.

topics: Option<Vec<Ros2TopicConfig>>

Multiple topics on a single ROS2 node context. Mutually exclusive with topic, service, action.

service: Option<String>

ROS2 service name (e.g. “/add_two_ints”). Mutually exclusive with topic, topics, action.

service_type: Option<String>

ROS2 service type (e.g. “example_interfaces/AddTwoInts”). Required when service is set.

action: Option<String>

ROS2 action name (e.g. “/navigate”). Mutually exclusive with topic, topics, service.

action_type: Option<String>

ROS2 action type (e.g. “nav2_msgs/NavigateToPose”). Required when action is set.

role: Option<Ros2Role>

Role: client or server. Required for service and action.

qos: Ros2QosConfig

QoS policies applied to all topics (can be overridden per-topic).

namespace: String

ROS2 namespace (default: “/”).

node_name: Option<String>

ROS2 node name. Defaults to the dora node id.

Trait Implementations

impl Clone for Ros2BridgeConfig

fn clone(&self) -> Self

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for Ros2BridgeConfig

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for Ros2BridgeConfig

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for Ros2BridgeConfig

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl JsonSchema for Ros2BridgeConfig

fn schema_name() -> Cow<'static, str>

The name of the generated JSON Schema.

fn schema_id() -> Cow<'static, str>

Returns a string that uniquely identifies the schema produced by this type.

fn json_schema(generator: &mut SchemaGenerator) -> Schema

Generates a JSON Schema for this type.

fn inline_schema() -> bool

Whether JSON Schemas generated for this type should be included directly in parent schemas, rather than being re-used where possible using the $ref keyword.

impl Serialize for Ros2BridgeConfig

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.