Module rustdds::ros2

ROS2 interface using DDS module

Examples

use rustdds::dds::DomainParticipant;
use rustdds::dds::data_types::TopicKind;
use rustdds::dds::traits::RTPSEntity;
use rustdds::ros2::RosParticipant;
use rustdds::ros2::NodeOptions;
use rustdds::ros2::RosNode;
use rustdds::ros2::builtin_datatypes::NodeInfo;
use rustdds::dds::qos::QosPolicies;
use rustdds::serialization::CDRSerializerAdapter;



// RosParticipant is needed for defined RosNodes to be visible in ROS2 network.
let mut ros_participant = RosParticipant::new().unwrap();


// declaring ros node 
let mut ros_node = ros_participant.new_RosNode(
  "some_node_name",
  "/some_namespace",
  NodeOptions::new(false), // enable rosout?
  ).unwrap();

// Creating some topic for RosNode
let some_topic = ros_node.create_ros_topic(
    "some_topic_name",
    "NodeInfo",
    QosPolicies::builder().build(),
    TopicKind::NoKey)
  .unwrap();

// declaring some writer that use non keyed types
let some_writer = ros_node
  .create_ros_nokey_publisher::<NodeInfo, CDRSerializerAdapter<_>>(
    some_topic, None)
  .unwrap();

// Readers and RosParticipant implement mio Evented trait and thus function the same way as
// std::sync::mpcs and can be handled the same way for reading the data

 

Modules

builtin_datatypes	Some builtin datatypes needed for ROS2 communication
builtin_topics	Some convenience topic infos for ROS2 communication

Structs

NodeOptions	Configuration of RosNode
RosNode	Node in ROS2 network. Holds necessary readers and writers for rosout and parameter events topics internally. Should be constructed using builder.
RosParticipant	RosParticipant sends and receives other participants information in ROS2 network

Type Definitions

KeyedRosPublisher
KeyedRosPublisher_CDR
KeyedRosSubscriber
KeyedRosSubscriber_CDR
RosPublisher
RosPublisher_CDR
RosSubscriber
RosSubscriber_CDR