Struct rustdds::ros2::RosNode [−][src]
Node in ROS2 network. Holds necessary readers and writers for rosout and parameter events topics internally. Should be constructed using builder.
Implementations
impl RosNode
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pub fn remove_reader(&mut self, reader: &GUID)
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pub fn remove_writer(&mut self, writer: &GUID)
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pub fn clear_node(&mut self)
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Clears both all reader and writer guids from this node.
pub fn get_name(&self) -> &str
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pub fn get_namespace(&self) -> &str
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pub fn get_fully_qualified_name(&self) -> String
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pub fn get_options(&self) -> &NodeOptions
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pub fn get_domain_id(&self) -> u16
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pub fn create_ros_topic(
&self,
name: &str,
type_name: &str,
qos: QosPolicies,
topic_kind: TopicKind
) -> Result<Topic, Error>
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&self,
name: &str,
type_name: &str,
qos: QosPolicies,
topic_kind: TopicKind
) -> Result<Topic, Error>
Creates ROS2 topic and handles necessary conversions from DDS to ROS2
Arguments
-
domain_participant
- DomainParticipant -
name
- Name of the topic -
type_name
- What type the topic holds in string form -
qos
- Quality of Service parameters for the topic (not restricted only to ROS2) -
topic_kind
- Does the topic have a key (multiple DDS instances)? NoKey or WithKeysummary of all rules for topic and service names in ROS 2 (as of Dec 2020)
-
must not be empty
-
may contain alphanumeric characters ([0-9|a-z|A-Z]), underscores (_), or forward slashes (/)
-
may use balanced curly braces ({}) for substitutions
-
may start with a tilde (~), the private namespace substitution character
-
must not start with a numeric character ([0-9])
-
must not end with a forward slash (/)
-
must not contain any number of repeated forward slashes (/)
-
must not contain any number of repeated underscores (_)
-
must separate a tilde (~) from the rest of the name with a forward slash (/), i.e. ~/foo not ~foo
-
must have balanced curly braces ({}) when used, i.e. {sub}/foo but not {sub/foo nor /foo}
pub fn create_ros_nokey_subscriber<D: DeserializeOwned + 'static, DA: DeserializerAdapter<D>>(
&mut self,
topic: Topic,
qos: Option<QosPolicies>
) -> Result<RosSubscriber<D, DA>, Error>
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&mut self,
topic: Topic,
qos: Option<QosPolicies>
) -> Result<RosSubscriber<D, DA>, Error>
Creates ROS2 Subscriber to no key topic.
Arguments
topic
- Reference to topic created withcreate_ros_topic
.qos
- Should take QOS and use if it's compatible with topics QOS.None
indicates the use of Topics QOS.
pub fn create_ros_subscriber<D, DA: DeserializerAdapter<D>>(
&mut self,
topic: Topic,
qos: Option<QosPolicies>
) -> Result<KeyedRosSubscriber<D, DA>, Error> where
D: Keyed + DeserializeOwned + 'static,
D::K: Key,
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&mut self,
topic: Topic,
qos: Option<QosPolicies>
) -> Result<KeyedRosSubscriber<D, DA>, Error> where
D: Keyed + DeserializeOwned + 'static,
D::K: Key,
Creates ROS2 Subscriber to Keyed topic.
Arguments
topic
- Reference to topic created withcreate_ros_topic
.qos
- Should take QOS and use it if it's compatible with topics QOS.None
indicates the use of Topics QOS.
pub fn create_ros_nokey_publisher<D: Serialize, SA: SerializerAdapter<D>>(
&mut self,
topic: Topic,
qos: Option<QosPolicies>
) -> Result<RosPublisher<D, SA>, Error>
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&mut self,
topic: Topic,
qos: Option<QosPolicies>
) -> Result<RosPublisher<D, SA>, Error>
Creates ROS2 Publisher to no key topic.
Arguments
topic
- Reference to topic created withcreate_ros_topic
.qos
- Should take QOS and use it if it's compatible with topics QOS.None
indicates the use of Topics QOS.
pub fn create_ros_publisher<D, SA: SerializerAdapter<D>>(
&mut self,
topic: Topic,
qos: Option<QosPolicies>
) -> Result<KeyedRosPublisher<D, SA>, Error> where
D: Keyed + Serialize,
D::K: Key,
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&mut self,
topic: Topic,
qos: Option<QosPolicies>
) -> Result<KeyedRosPublisher<D, SA>, Error> where
D: Keyed + Serialize,
D::K: Key,
Auto Trait Implementations
impl !RefUnwindSafe for RosNode
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impl Send for RosNode
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impl !Sync for RosNode
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impl Unpin for RosNode
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impl !UnwindSafe for RosNode
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Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,