Crate rclrs

Rust client library for ROS 2.

For getting started, see the README.

Structs

AvailableValues

This struct is given to the discriminator function of the ParameterBuilder so it knows what values are available to choose from.

Client

Main class responsible for sending requests to a ROS service.

ClientHandle

Internal struct used by clients.

Clock

Struct that implements a Clock and wraps rcl_clock_t.

ClockSource

A clock source that can be used to drive the contained clock. Created when a clock of type ClockType::RosTime is constructed

Context

Shared state between nodes and similar entities.

GuardCondition

A waitable entity used for waking up a wait set manually.

LoanedMessage

A message that is owned by the middleware, loaned for publishing.

MandatoryParameter

A parameter that must have a value This struct has ownership of the declared parameter. Additional parameter declaration will fail while this struct exists and the parameter will be undeclared when it is dropped.

MessageInfo

Additional information about a received message.

Node

A processing unit that can communicate with other nodes.

NodeBuilder

A builder for creating a Node.

NodeNameInfo

Stores a node’s name and namespace

OptionalParameter

A parameter that might not have a value, represented by Option<T>. This struct has ownership of the declared parameter. Additional parameter declaration will fail while this struct exists and the parameter will be undeclared when it is dropped.

ParameterBuilder

Builder used to declare a parameter. Obtain this by calling crate::Node::declare_parameter.

ParameterOptions

Options that can be attached to a parameter, such as description, ranges. Some of this data will be used to populate the ParameterDescriptor

ParameterRange

Describes the range for paramter type T.

ParameterRanges

Contains all the possible type of ranges that can be applied to a value. Usually only one of these ranges will be applied, but all have to be stored since:

Parameters

Allows access to all parameters via get / set functions, using their name as a key.

Publisher

Struct for sending messages of type T.

PublisherGid

An identifier for a publisher in the local context.

QoSProfile

A Quality of Service profile.

RclErrorMsg

Struct encapsulating an error message from the rcl layer or below.

ReadOnlyLoanedMessage

A message that is owned by the middleware, loaned out for reading.

ReadOnlyParameter

A parameter that must have a value and cannot be written to This struct has ownership of the declared parameter. Additional parameter declaration will fail while this struct exists and the parameter will be undeclared when it is dropped.

ReadyEntities

A list of entities that are ready, returned by WaitSet::wait.

Service

Main class responsible for responding to requests sent by ROS clients.

ServiceHandle

Internal struct used by services.

SingleThreadedExecutor

Single-threaded executor implementation.

Subscription

Struct for receiving messages of type T.

SubscriptionHandle

Internal struct used by subscriptions.

Time

Struct that represents time.

TopicEndpointInfo

Contains topic endpoint information

WaitSet

A struct for waiting on subscriptions and other waitable entities to become ready.

rmw_request_id_t

Enums

AnySubscriptionCallback

An enum capturing the various possible function signatures for subscription callbacks.

ClockType

Enum to describe clock type. Redefined for readability and to eliminate the uninitialized case from the rcl_clock_type_t enum in the binding.

DeclarationError

Error that can be generated when doing operations on parameters.

ParameterKind

Describes the parameter’s type. Similar to ParameterValue but also includes a Dynamic variant for dynamic parameters.

ParameterValue

A parameter value.

ParameterValueError

Describes errors that can be generated when trying to set a parameter’s value.

QoSDurabilityPolicy

The DURABILITY DDS QoS policy.

QoSDuration

A duration that can take two special values: System default and infinite.

QoSHistoryPolicy

The HISTORY DDS QoS policy.

QoSLivelinessPolicy

The LIVELINESS DDS QoS policy.

QoSReliabilityPolicy

The RELIABILITY DDS QoS policy.

RclReturnCode

Return codes of rcl functions.

RclrsError

The main error type.

Constants

QOS_PROFILE_CLOCK

Equivalent to ClockQos from the rclcpp package. Same as sensor data but with a history depth of 1

QOS_PROFILE_DEFAULT

Equivalent to rmw_qos_profile_default from the rmw package.

QOS_PROFILE_PARAMETERS

Equivalent to rmw_qos_profile_parameters from the rmw package.

QOS_PROFILE_PARAMETER_EVENTS

Equivalent to rmw_qos_profile_parameter_events from the rmw package.

QOS_PROFILE_SENSOR_DATA

Equivalent to rmw_qos_profile_sensor_data from the rmw package.

QOS_PROFILE_SERVICES_DEFAULT

Equivalent to rmw_qos_profile_services_default from the rmw package.

QOS_PROFILE_SYSTEM_DEFAULT

Equivalent to rmw_qos_profile_system_default from the rmw package.

Traits

ClientBase

Trait to be implemented by concrete Client structs.

MessageCow

Convenience trait for Publisher::publish.

ParameterVariant

A trait that describes a value that can be converted into a parameter.

ServiceBase

Trait to be implemented by concrete Service structs.

SubscriptionBase

Trait to be implemented by concrete Subscriptions.

SubscriptionCallback

A trait for allowed callbacks for subscriptions.

Functions

create_node

Creates a new node in the empty namespace.

create_node_builder

Creates a NodeBuilder.

default_initial_value_discriminator

The default discriminator that chooses the initial value for a parameter. The implementation here uses a simple preference of

extract_non_ros_args

Extract non-ROS arguments from program’s input arguments.

spin

Convenience function for calling spin_once in a loop.

spin_once

Polls the node for new messages and executes the corresponding callbacks.

Type Aliases

TopicNamesAndTypes

Stores a list of types associated with each topic.