Crate ros2_types 

ROS2 type support library

This crate provides core traits and utilities for ROS2 message types, including RIHS01 (ROS Interface Hashing Standard v1) type hash calculation.

Features

• derive: Enable derive macros for TypeDescription and Ros2Msg
• native: Enable native CDR serialization (for Zenoh, iceoryx2, etc.)

Traits

This crate provides several traits for ROS2 message types:

• TypeSupport: For types with type support information and CDR serialization
• TryClone: For types that can fail cloning (FFI types)
• ServiceMsg: For ROS2 service types (Request/Response pairs)
• ActionMsg: For ROS2 action types (Goal/Result/Feedback)
• ActionGoal, ActionResult: For action service types
• GetUUID, GoalResponse, ResultResponse: Helper traits for actions

Native CDR Serialization

When the native feature is enabled, message types can be serialized/deserialized using CDR encoding (compatible with DDS/ROS2):

use ros2_types::TypeSupport;

let msg = std_msgs::msg::String { data: "hello".into() };
let bytes = msg.to_bytes()?;
let decoded = std_msgs::msg::String::from_bytes(&bytes)?;

Note: When using native feature, message structs must derive serde::Serialize and serde::Deserialize.

Re-exports

pub use cdr::CdrSerde;

pub use types::FIELD_TYPE_BOOLEAN;

pub use types::FIELD_TYPE_BOUNDED_STRING;

pub use types::FIELD_TYPE_BOUNDED_WSTRING;

pub use types::FIELD_TYPE_BYTE;

pub use types::FIELD_TYPE_CHAR;

pub use types::FIELD_TYPE_DOUBLE;

pub use types::FIELD_TYPE_FIXED_STRING;

pub use types::FIELD_TYPE_FIXED_WSTRING;

pub use types::FIELD_TYPE_FLOAT;

pub use types::FIELD_TYPE_INT8;

pub use types::FIELD_TYPE_INT16;

pub use types::FIELD_TYPE_INT32;

pub use types::FIELD_TYPE_INT64;

pub use types::FIELD_TYPE_LONG_DOUBLE;

pub use types::FIELD_TYPE_NESTED_TYPE;

pub use types::FIELD_TYPE_NOT_SET;

pub use types::FIELD_TYPE_STRING;

pub use types::FIELD_TYPE_UINT8;

pub use types::FIELD_TYPE_UINT16;

pub use types::FIELD_TYPE_UINT32;

pub use types::FIELD_TYPE_UINT64;

pub use types::FIELD_TYPE_WCHAR;

pub use types::FIELD_TYPE_WSTRING;

pub use serde;

Modules

cdr

CDR (Common Data Representation) serialization support

types

Type description data structures

Structs

MessageTypeName

Information needed to construct a ROS2 message type name

SequenceRaw

Raw sequence type for FFI compatibility

UnsafeDuration

Represents a duration that may not be safe across all platforms.

UnsafeTime

Represents a timestamp that may not be safe across all platforms.

Enums

Error

Errors that can occur during type hash calculation

Traits

ActionGoal

Trait for action goal types.

ActionMsg

Trait for ROS2 action message types.

ActionResult

Trait for action result types.

ActionTypeDescription

Trait for ROS2 action types that can provide a type description for hash computation

BigArray

The big array serialization helper trait

GetUUID

Trait for types that contain a UUID.

GoalResponse

Trait for action goal response types.

ResultResponse

Trait for action result response types.

RosFieldType

Trait for types that can be used as fields in ROS2 messages.

ServiceMsg

Trait for ROS2 service message types.

ServiceTypeDescription

Trait for ROS2 service types that can provide a type description for hash computation

TryClone

Trait for type that can fail cloning

TypeDescription

Trait for types that can provide a ROS2 type description

TypeSupport

Trait for types that have type support information.

Functions

calculate_type_hash

Calculate the RIHS01 type hash for a type description

parse_rihs_string

Parse a RIHS hash string and extract version and hash value

Type Aliases

Result

Result type for type hash operations