ros2_client/
builtin_topics.rs

1use rustdds::{policy::*, *};
2
3pub mod ros_discovery {
4  use super::*;
5
6  lazy_static! {
7    pub static ref QOS_PUB: QosPolicies = QosPolicyBuilder::new()
8      .durability(Durability::TransientLocal)
9      .deadline(Deadline(Duration::INFINITE))
10      .ownership(Ownership::Shared)
11      .reliable(Duration::ZERO)
12      .history(History::KeepLast { depth: 1 })
13      .lifespan(Lifespan {
14        duration: Duration::INFINITE
15      })
16      .build();
17    pub static ref QOS_SUB: QosPolicies = QosPolicyBuilder::new()
18      .durability(Durability::Volatile)
19      .ownership(Ownership::Shared)
20      .reliable(Duration::ZERO)
21      .history(History::KeepLast { depth: 1 })
22      .lifespan(Lifespan {
23        duration: Duration::INFINITE
24      })
25      .build();
26  }
27
28  pub const TOPIC_NAME: &str = "ros_discovery_info";
29
30  pub const TYPE_NAME: &str = "rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_";
31}
32
33pub mod parameter_events {
34  use super::*;
35
36  lazy_static! {
37    pub static ref QOS: QosPolicies = QosPolicyBuilder::new()
38      .durability(Durability::TransientLocal)
39      .reliable(Duration::ZERO)
40      .history(History::KeepLast { depth: 1 })
41      .build();
42  }
43
44  pub const TOPIC_NAME: &str = "rt/parameter_events";
45
46  pub const TYPE_NAME: &str = "rcl_interfaces::msg::dds_::ParameterEvent_";
47}
48
49pub mod rosout {
50  use super::*;
51
52  lazy_static! {
53    pub static ref QOS: QosPolicies = QosPolicyBuilder::new()
54      .durability(Durability::TransientLocal)
55      .deadline(Deadline(Duration::INFINITE))
56      .ownership(Ownership::Shared)
57      .reliable(Duration::ZERO)
58      .history(History::KeepLast { depth: 1 })
59      .lifespan(Lifespan {
60        duration: Duration::from_secs(10)
61      })
62      .build();
63  }
64
65  pub const TOPIC_NAME: &str = "rt/rosout";
66
67  pub const TYPE_NAME: &str = "rcl_interfaces::msg::dds_::Log_";
68}
ros2_client/builtin_topics.rs

ros2_client/
builtin_topics.rs
