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() -> CreateResult<Context>

Create a new Context with default settings.

pub fn with_options(opt: ContextOptions) -> CreateResult<Context>

Create a new Context.

pub fn from_domain_participant( domain_participant: DomainParticipant ) -> CreateResult<Context>

Create a new Context from an existing DomainParticipant.

pub fn new_node( &self, node_name: NodeName, options: NodeOptions ) -> CreateResult<Node>

Create a new ROS2 Node

pub fn domain_id(&self) -> u16

Query which DDS Domain Id we are using.

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

Which topics have been discovered?

pub fn participant_entities_info(&self) -> ParticipantEntitiesInfo

Gets the ParticipantEntitiesInfo describing the current state of this Context. This is what we send to ROS Discovery.

pub fn get_parameter_events_topic(&self) -> Topic

Get a (handle to) the ROSOut logging Topic.

pub fn get_rosout_topic(&self) -> Topic

Get a (handle to) the ROSOut logging Topic.

Note: The recommended way to write log messages to ROSOut is via the crate::rosout macro.

pub fn domain_participant(&self) -> DomainParticipant

Get the contained DDS DomainParticipant.

The return value is owned, but it is just a cloned smart pointer.

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.