Crate roslibrust_zenoh 

A crate for interfacing to ROS1 via the zenoh-ros1-plugin / zenoh-ros1-bridge.

It is not recommended to depend on this crate directly, but instead access it via roslibrust with the zenoh feature enabled.

Structs

ZenohClient

A wrapper around a normal zenoh session that adds roslibrust specific functionality. Should be created via ZenohClient::new, and then used via the TopicProvider and ServiceProvider traits.

ZenohPublisher

The publisher type returned by TopicProvider::advertise on ZenohClient This type is self de-registering, and dropping the publisher will automatically un-advertise the topic.

ZenohServiceClient

The client type returned by ServiceProvider::service_client on ZenohClient This type allows calling a service multiple times without re-negotiating the connection each time.

ZenohServiceServer

The type returned by ServiceProvider::advertise_service on ZenohClient. This type is self de-registering, and dropping the server will automatically un-advertise the service.

ZenohSubscriber

The subscriber type returned by TopicProvider::subscribe on ZenohClient. This type is self de-registering, and dropping the subscriber will automatically unsubscribe from the topic. This type is generic on the message type that will be received. It is typically used with types generated by roslibrust’s codegen.