Crate ros2_client

ROS2 interface using DDS module

Examples

use rustdds::*;
use ros2_client::*;
use ros2_client::node_entities_info::NodeEntitiesInfo;


let mut ros_context = Context::new().unwrap();


let mut ros_node = ros_context.new_node(
  "some_node_name",
  "/some_namespace",
  NodeOptions::new().enable_rosout(true),
  ).unwrap();

let some_topic = ros_node.create_topic(
    "some_topic_name",
    "NodeEntitiesInfo".to_string(),
    &QosPolicies::builder().build() )
  .unwrap();

// declaring some writer that use non keyed types
let some_writer = ros_node
  .create_publisher::<NodeEntitiesInfo>(&some_topic, None)
  .unwrap();

// Publisher and subscription implement [`mio::Evented`], so thay can be polled.

Modules

• action
• action_msgs
• builtin_interfaces
  Some builtin interfaces for ROS2 communication
• builtin_topics
  Some builtin datatypes needed for ROS2 communication Some convenience topic infos for ROS2 communication
• interfaces
• log
• message
• node_entities_info
• parameters
• participant_entities_info
• ros2
  Module for stuff we do not want to export from top level;
• service
• unique_identifier_msgs

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
• 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.
• DEFAULT_QOS
• MessageInfo
• MessageTypeName
• Node
  Node in ROS2 network. Holds necessary readers and writers for rosout and parameter events topics internally.
• NodeOptions
  Configuration of Node This is a builder-like struct.
• Publisher
  A ROS2 Publisher
• Server
  Server end of a ROS2 Service
• Subscription
  A ROS2 Subscription

Enums

• ServiceMappings
  Enumerate supported service mappings

Statics

• DEFAULT_QOS

Traits

• ActionTypes
• Message
  Trait to ensure Messages can be (de)serialized
• Service
  Service trait pairs the Request and Response types together. Additonally, it ensures that Response and Request are Messages (serializable) and we have a means to name the types.