Expand description
ZeroMQ message bus: broker routing and participant SDK.
Re-exports§
pub use typed::Action;pub use typed::ActionOutcome;pub use typed::Service;pub use action_bus::ActionClient;pub use action_bus::ActionKind;pub use action_bus::ActionMessage;pub use action_bus::ActionWorker;pub use broker::ActionPeer;pub use broker::DiscoveryConfig;pub use broker::FederationPeerEndpoints;pub use broker::MessagePeer;pub use broker::RobotBusBroker;pub use broker::RobotBusConfig;pub use broker::ServicePeer;pub use broker::apply_api_peers;pub use broker::apply_federation_opts;pub use broker::parse_robot_bus_config;pub use broker::resolve_peer_from_api;pub use broker::robot_bus_broker_help;pub use discovery::BrokerAnnouncement;pub use discovery::DEFAULT_API_DISCOVER_PATH;pub use discovery::DEFAULT_WS_RPC_PATH;pub use discovery::DiscoverOpts;pub use discovery::DiscoverResponse;pub use discovery::MAGIC as DISCOVERY_MAGIC;pub use discovery::SCHEMA_VERSION as DISCOVERY_SCHEMA_VERSION;pub use discovery::decode_announce;pub use discovery::encode_announce;pub use discovery::fetch_discover;pub use discovery::wait as discover_wait;pub use discovery::with_ws_rpc_path;pub use tank::CMD_VEL_TOPIC;pub use tank::MULTI_WAYPOINT_NAV_ACTION;pub use tank::POINT_NAV_ACTION;pub use tank::POSE_TOPIC;pub use tank::RESET_SERVICE;pub use tank::TankEndpoints;pub use tank::TankHandle;pub use tank::TankManager;pub use tank::TankSession;pub use tank::TankStatus;pub use tank::WORLD_SIZE;pub use discovery::DEFAULT_DISCOVERY_PORT;Deprecated pub use discovery::DEFAULT_MULTICAST_ADDR;Deprecated pub use broker::WsConfig;pub use broker::ConsoleBrokerConfig;pub use errors::BusError;pub use errors::Result;pub use errors::parse_error_body;pub use lazy_subscribe::CONSOLE_DETECT_TIMEOUT;pub use lazy_subscribe::should_enable_ros_subscription;pub use message_bus::Publisher;pub use message_bus::Subscriber;pub use runtime::ActionGoalContext;pub use runtime::ActionGoalHandler;pub use runtime::ActionGoalLiveHandler;pub use runtime::CallbackGroup;pub use runtime::CallbackGroupType;pub use runtime::ConnectionState;pub use runtime::Context;pub use runtime::Executor;pub use runtime::ExecutorHandle;pub use runtime::GoalHandle;pub use runtime::ListParametersResult;pub use runtime::MessageCallback;pub use runtime::MultiThreadedExecutor;pub use runtime::Node;pub use runtime::NodeActionClient;pub use runtime::NodeActionClientRaw;pub use runtime::NodeActionServer;pub use runtime::NodeOptions;pub use runtime::NodeService;pub use runtime::NodeServiceClient;pub use runtime::NodeServiceClientRaw;pub use runtime::PARAMETER_DEPTH_RECURSIVE;pub use runtime::Parameter;pub use runtime::ParameterValue;pub use runtime::QOS_PROFILE_DEFAULT;pub use runtime::QosProfile;pub use runtime::RawActionFeedbackCallback;pub use runtime::RawGoalHandle;pub use runtime::ServiceHandler;pub use runtime::ShutdownHandle;pub use runtime::SingleThreadedExecutor;pub use runtime::SubscriptionHandle;pub use runtime::SubscriptionOverflowPolicy;pub use runtime::TimerCallback;pub use runtime::TimerHandle;pub use runtime::TopicPublisher;pub use runtime::TopicPublisherRaw;pub use service_bus::ServiceClient;pub use service_bus::ServiceWorker;pub use transports::BindAllOpts;pub use transports::DEFAULT_API_PORT;pub use transports::action_backend_endpoint;pub use transports::action_frontend_endpoint;pub use transports::bind_all;pub use transports::bind_tcp;pub use transports::format_endpoints;pub use transports::inproc_endpoint;pub use transports::ipc_endpoint;pub use transports::message_xpub_endpoint;pub use transports::message_xsub_endpoint;pub use transports::service_backend_endpoint;pub use transports::service_frontend_endpoint;pub use zmq_helpers::HighWaterMark;
Modules§
- ackermann_
msgs - action
- action_
bus - Action bus participant API (DEALER client / DEALER worker).
- action_
msgs - apriltag_
msgs - broker
- Broker routing processes (message / service / action bus).
- builtin_
interfaces - console
- Embedded Web console: static assets + monitoring API (same port as gRPC / WS).
- console_
topics - Fixed system topic names for broker console introspection.
- control_
msgs - diagnostic_
msgs - discovery
- HTTP API broker discovery (control plane).
- errors
- Broker-side error body conventions.
- example_
interfaces - ROS 2–aligned tutorial interfaces (
example_interfaces). - foxglove_
msgs - geometry_
msgs - lazy_
subscribe - Shared predicate for opt-in ROS2→bus topic lazy subscribe.
- lifecycle_
msgs - map_
msgs - message_
bus - Message bus participant API (PUB / SUB).
- nav2_
msgs - nav_
msgs - robot_
bus_ interfaces - robot-bus interface messages (
robot_bus_interfaces.msg.v1). - runtime
- Unified poll loop runtime (ROS 2–style executor / node).
- sensor_
msgs - service_
bus - Service bus participant API (REQ client / DEALER worker).
- shape_
msgs - shutdown
- Shared SIGINT/SIGTERM handling for multi-bus processes.
- std_
msgs - std_
srvs - stereo_
msgs - tank
- In-process differential-drive tank simulation (
tank). - tf2_
msgs - trajectory_
msgs - transports
- Multi-transport endpoints: TCP (remote), inproc (same process), ipc (local machine).
- typed
- ROS 2–style service / action type bindings for typed Node APIs.
- unique_
identifier_ msgs - vision_
msgs - visualization_
msgs - worker_
thread - Background worker runner for tests and simple deployments.
- ws
- WebSocket communication: multiplexed RPC, framing, and server-side bus integration.
- zmq_
helpers - Shared ZeroMQ socket helpers.