Crate ros2_client

Expand description

ROS 2 client library, similar to the rclcpp or rclpy libraries, in native Rust. The underlying DDS implementation, RustDDS, is also native Rust.

§Example

use futures::StreamExt;
use ros2_client::*;

  let context = Context::new().unwrap();
  let mut node = context
    .new_node(
      NodeName::new("/rustdds", "rustdds_listener").unwrap(),
      NodeOptions::new().enable_rosout(true),
    )
    .unwrap();

  let chatter_topic = node
    .create_topic(
      &Name::new("/","topic").unwrap(),
      MessageTypeName::new("std_msgs", "String"),
      &ros2_client::DEFAULT_SUBSCRIPTION_QOS,
    )
    .unwrap();
  let chatter_subscription = node
    .create_subscription::<String>(&chatter_topic, None)
    .unwrap();

  let subscription_stream = chatter_subscription
    .async_stream()
    .for_each(|result| async {
      match result {
        Ok((msg, _)) => println!("I heard: {msg}"),
        Err(e) => eprintln!("Receive request error: {:?}", e),
      }
    });

  // Since we enabled rosout, let's log something
  rosout!(
    node,
    ros2::LogLevel::Info,
    "wow. very listening. such topics. much subscribe."
  );

  // Uncomment this to execute until interrupted.
  // --> smol::block_on( subscription_stream );

Modules§

action: ROS 2 Action machinery
builtin_interfaces: Some builtin interfaces for ROS2 communication Defines message types Duration and Time. See builtin_interfaces
builtin_topics: Some builtin datatypes needed for ROS2 communication Some convenience topic infos for ROS2 communication
entities_info: Message types for ROS 2 Discovery
log: rosout logging data types
message: Defines Message trait, which defines data that is to be sent over Topics.
message_info: Metadata for received Messages, such as Timestamps and publisher id.
names: This module defines types to represent ROS 2 names for
parameters: Rust-like representation of ROS2 Parameters
rcl_interfaces: Corresponds to package rcl_interfaces. Defines message types for Parameter manipulation.
ros2: Module for stuff we do not want to export from top level;
ros_time: ROS timing abstractions ROSTime and SystemTime
rosout: Helpers for rosout logging
service: Implementation of ROS 2 Services
steady_time: Steady time has an arbitrary origin, but is guaranteed to run monotonically (i.e. non-decreasing), regardless of clock corrections or timezones.

Macros§

rosout: Macro for writing to rosout topic.

Structs§

AService: AService is a means of constructing a descriptor for a Service on the fly. This allows generic code to construct a Service from the types of request and response.
Action: This is used to construct an ActionType implementation from pre-existing component types.
ActionTypeName: Similar to MessageTypeName, but names an Action type.
Client: Client end of a ROS2 Service
Context: Context communicates with other participants information in ROS2 network. It keeps track of NodeEntitiesInfos. Also acts as a wrapper for a RustDDS instance.
ContextOptions: Builder for configuring a Context
DEFAULT_PUBLISHER_QOS: Basic Reliable QoS for publishing.
DEFAULT_SUBSCRIPTION_QOS: Basic BestEffort QoS for subscribers
MessageInfo: Message metadata
MessageTypeName: Name for .msg type, or a data type carried over a Topic.
Name: Names for Topics, Services
Node: Node in ROS2 network. Holds necessary readers and writers for rosout and parameter events topics internally.
NodeLoggingHandle: A handle to log from any node without moving it between threads.
NodeName: Names for Nodes
NodeOptions: Configuration of Node This is a builder-like struct.
Parameter: Named parameter
Publisher: A ROS2 Publisher
ROSTime: ROS Time with nanosecond precision
Server: Server end of a ROS2 Service
ServiceTypeName: Similar to MessageTypeName, but names a Service type.
Spinner: Spinner implements Node’s background event loop.
Subscription: A ROS2 Subscription
SystemTime: Same as ROSTime, except this one cannot be simulated.
WString: UTF-16 strings, as required by the ROS type system.

Enums§

NodeCreateError: What went wrong in Node creation
NodeEvent: DDS or ROS 2 Discovery events.
ParameterError: Error when setting Parameters
ParameterValue: Rust-like representation of ROS2 ParameterValue
ReaderWait: Future type for waiting Readers to appear over ROS2 Topic.
ServiceMapping: Selects how Service Requests and Responses are to be mapped to DDS.
WriterWait: Future type for waiting Writers to appear over ROS2 Topic.

Statics§

DEFAULT_PUBLISHER_QOS
DEFAULT_SUBSCRIPTION_QOS

Traits§

ActionTypes: A trait to define an Action type
Message: Trait to ensure Messages can be (de)serialized
RosoutRaw: Ability to write to rosout log.
Service: Service trait pairs the Request and Response types together. Additionally, it ensures that Response and Request are Messages (Serializable), and we have a means to name the types.

Crate ros2_clientCopy item path

§Example

Modules§

Macros§

Structs§

Enums§

Statics§

Traits§

Crate ros2_client