Enum ros2_client::service::ServiceMapping
source · pub enum ServiceMapping {
Basic,
Enhanced,
Cyclone,
}
Expand description
There are different and incompatible ways to map Services onto DDS Topics. The mapping used by ROS2 depends on the DDS implementation used and its configuration. For details, see OMG Specification RPC over DDS Section “7.2.4 Basic and Enhanced Service Mapping for RPC over DDS” RPC over DDS“ . which defines Service Mappings “Basic” and “Enhanced” ServiceMapping::Cyclone represents a third mapping used by RMW for CycloneDDS.
Variants§
Basic
“Basic” service mapping from RPC over DDS specification.
- RTI Connext with
RMW_CONNEXT_REQUEST_REPLY_MAPPING=basic
, but this is not tested, so may not work.
Enhanced
“Enhanced” service mapping from RPC over DDS specification.
- ROS2 Foxy with eProsima DDS,
- ROS2 Galactic with RTI Connext (rmw_connextdds, not rmw_connext_cpp) -
set environment variable
RMW_CONNEXT_REQUEST_REPLY_MAPPING=extended
before running ROS2 executable.
Cyclone
CycloneDDS-specific service mapping. Specification for this mapping is unknown, technical details are reverse-engineered from ROS2 sources.
- ROS2 Galactic with CycloneDDS - Seems to work on the same host only, not over actual network.
Trait Implementations§
source§impl Clone for ServiceMapping
impl Clone for ServiceMapping
source§fn clone(&self) -> ServiceMapping
fn clone(&self) -> ServiceMapping
Returns a copy of the value. Read more
1.0.0 · source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from
source
. Read moresource§impl Debug for ServiceMapping
impl Debug for ServiceMapping
source§impl PartialEq for ServiceMapping
impl PartialEq for ServiceMapping
source§fn eq(&self, other: &ServiceMapping) -> bool
fn eq(&self, other: &ServiceMapping) -> bool
This method tests for
self
and other
values to be equal, and is used
by ==
.impl Copy for ServiceMapping
impl Eq for ServiceMapping
impl StructuralEq for ServiceMapping
impl StructuralPartialEq for ServiceMapping
Auto Trait Implementations§
impl RefUnwindSafe for ServiceMapping
impl Send for ServiceMapping
impl Sync for ServiceMapping
impl Unpin for ServiceMapping
impl UnwindSafe for ServiceMapping
Blanket Implementations§
source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more