Enum ros2_client::ServiceMapping

pub enum ServiceMapping {
    Basic,
    Enhanced,
    Cyclone,
}

Selects how Service Requests and Responses are to be mapped to DDS.

There are different and incompatible ways to map Services onto DDS Topics. In order to interoperate with ROS 2, you have to select the same mapping it uses. 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”, 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

impl Clone for ServiceMapping

fn clone(&self) -> ServiceMapping

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for ServiceMapping

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq for ServiceMapping

fn eq(&self, other: &ServiceMapping) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for ServiceMapping

impl Eq for ServiceMapping

impl StructuralPartialEq for ServiceMapping