Struct ros2_client::Context

pub struct Context { /* private fields */ }

Context communicates with other participants information in ROS2 network. It keeps track of NodeEntitiesInfos. Also acts as a wrapper for a RustDDS instance.

Context is shut down by dropping it, and all of its RosNodes. There should be no need for ok() or shutdown() methods.

Implementations

impl Context

pub fn new() -> Result<Context, Error>

pub fn from_domain_participant(
    domain_participant: DomainParticipant
) -> Result<Context, Error>

pub fn new_node(
    &self,
    name: &str,
    namespace: &str,
    options: NodeOptions
) -> Result<Node, Error>

Create a new ROS2 node

pub fn create_publisher<M>(
    &self,
    topic: &Topic,
    qos: Option<QosPolicies>
) -> Result<Publisher<M>> where
    M: Serialize, 

pub fn create_subscription<M>(
    &self,
    topic: &Topic,
    qos: Option<QosPolicies>
) -> Result<Subscription<M>> where
    M: 'static + DeserializeOwned, 

pub fn handle_node_read(&mut self) -> Vec<ParticipantEntitiesInfo>

pub fn clear(&mut self)

Clears all nodes and updates our ContextInfo to ROS2 network

pub fn domain_id(&self) -> u16

pub fn discovered_topics(&self) -> Vec<DiscoveredTopicData>

pub fn add_node_info(&mut self, node_info: NodeEntitiesInfo)

pub fn remove_node_info(&mut self, node_info: &NodeEntitiesInfo)

pub fn get_all_discovered_external_ros_node_infos(
    &self
) -> HashMap<Gid, Vec<NodeEntitiesInfo>>

pub fn get_all_discovered_local_ros_node_infos(
    &self
) -> HashMap<String, NodeEntitiesInfo>

pub fn get_ros_participant_info(&self) -> ParticipantEntitiesInfo

Gets our current participant info we have sent to ROS2 network

pub fn get_parameter_events_topic(&self) -> Topic

pub fn get_rosout_topic(&self) -> Topic

pub fn domain_participant(&self) -> DomainParticipant

Trait Implementations

impl Clone for Context

fn clone(&self) -> Context

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Evented for Context

fn register(
    &self,
    poll: &Poll,
    token: Token,
    interest: Ready,
    opts: PollOpt
) -> Result<()>

Register self with the given Poll instance.

fn reregister(
    &self,
    poll: &Poll,
    token: Token,
    interest: Ready,
    opts: PollOpt
) -> Result<()>

Re-register self with the given Poll instance.

fn deregister(&self, poll: &Poll) -> Result<()>

Deregister self from the given Poll instance