Struct Ros2TopicConfig 

pub struct Ros2TopicConfig {
    pub topic: String,
    pub message_type: String,
    pub direction: Ros2Direction,
    pub output: Option<String>,
    pub input: Option<String>,
    pub qos: Option<Ros2QosConfig>,
}

Configuration for a single ROS2 topic in multi-topic mode.

Fields

topic: String

ROS2 topic name.

message_type: String

ROS2 message type (e.g. “geometry_msgs/Twist”).

direction: Ros2Direction

Direction: subscribe or publish.

output: Option<String>

Maps to an dora output id (for subscribe direction).

input: Option<String>

Maps to an dora input id (for publish direction).

qos: Option<Ros2QosConfig>

Per-topic QoS override.

Implementations

impl Ros2TopicConfig

pub fn output_port_id(&self) -> String

The dora output a subscribe topic feeds: the explicit output: mapping, or the topic-derived id when that is unset.

Both the descriptor validator (dora-core) and the ros2 bridge node depend on producing the same id — the validator rejects configs whose port is not declared precisely because the bridge would otherwise silently drop the data — so the rule lives here in the shared message crate rather than being duplicated at each call site.

pub fn input_port_id(&self) -> String

The dora input a publish topic consumes; the counterpart of Self::output_port_id.

Trait Implementations

impl Clone for Ros2TopicConfig

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 Ros2TopicConfig

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for Ros2TopicConfig

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl JsonSchema for Ros2TopicConfig

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 Ros2TopicConfig

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

where __S: Serializer,

Serialize this value into the given Serde serializer.