Struct safe_drive::node::Node

pub struct Node { /* private fields */ }

Node of ROS2.

Implementations

impl Node

pub fn get_name(&self) -> RCLResult<String>

pub fn get_fully_qualified_name(&self) -> RCLResult<String>

pub fn get_namespace(&self) -> RCLResult<String>

pub fn create_parameter_server( self: &Arc<Self> ) -> Result<ParameterServer, DynError>

pub fn create_publisher<T: TypeSupport>( self: &Arc<Self>, topic_name: &str, qos: Option<Profile> ) -> RCLResult<Publisher<T>>

Create a publisher. If qos is specified None, the default profile is used.

T is the type of messages the created publisher send.

Example

use safe_drive::{msg::common_interfaces::std_msgs, node::Node, topic::publisher::Publisher};
use std::sync::Arc;

fn create_new_publisher(node: Arc<Node>) -> Publisher<std_msgs::msg::Bool> {
    node.create_publisher("topic_name", None).unwrap()
}

pub fn create_publisher_disable_loaned_message<T: TypeSupport>( self: &Arc<Self>, topic_name: &str, qos: Option<Profile> ) -> RCLResult<Publisher<T>>

Create a publisher. If qos is specified None, the default profile is used.

T is the type of messages the created publisher send.

This function is the same as create_publisher but it disables loaned message.

Example

use safe_drive::{msg::common_interfaces::std_msgs, node::Node, topic::publisher::Publisher};
use std::sync::Arc;

fn create_publisher_disable_loaned_message(node: Arc<Node>) -> Publisher<std_msgs::msg::Bool> {
    node.create_publisher_disable_loaned_message("topic_name", None).unwrap()
}

pub fn create_subscriber<T: TypeSupport>( self: &Arc<Self>, topic_name: &str, qos: Option<Profile> ) -> RCLResult<Subscriber<T>>

Create a subscriber. If qos is specified None, the default profile is used.

T is the type of messages the created subscriber receive.

Example

use safe_drive::{msg::common_interfaces::std_msgs, node::Node, topic::subscriber::Subscriber};
use std::sync::Arc;

fn create_new_subscriber(node: Arc<Node>) -> Subscriber<std_msgs::msg::Bool> {
    node.create_subscriber("topic_name", None).unwrap()
}

pub fn create_subscriber_disable_loaned_message<T: TypeSupport>( self: &Arc<Self>, topic_name: &str, qos: Option<Profile> ) -> RCLResult<Subscriber<T>>

Create a subscriber. If qos is specified None, the default profile is used.

T is the type of messages the created subscriber receive.

Example

use safe_drive::{msg::common_interfaces::std_msgs, node::Node, topic::subscriber::Subscriber};
use std::sync::Arc;

fn create_subscriber_disable_loaned_message(node: Arc<Node>) -> Subscriber<std_msgs::msg::Bool> {
    node.create_subscriber_disable_loaned_message("topic_name", None).unwrap()
}

pub fn create_server<T: ServiceMsg>( self: &Arc<Self>, service_name: &str, qos: Option<Profile> ) -> RCLResult<Server<T>>

Create a server. If qos is specified None, the default profile is used.

A server must receive ServiceMsg::Request and send ServiceMsg::Response.

Example

use safe_drive::{msg::common_interfaces::std_srvs, node::Node, service::server::Server};
use std::sync::Arc;

fn create_new_server(node: Arc<Node>) -> Server<std_srvs::srv::Empty> {
    node.create_server("service_name", None).unwrap()
}

pub fn create_client<T: ServiceMsg>( self: &Arc<Self>, service_name: &str, qos: Option<Profile> ) -> RCLResult<Client<T>>

Create a client. If qos is specified None, the default profile is used.

A client must send ServiceMsg::Request and receive ServiceMsg::Response.

Example

use safe_drive::{msg::common_interfaces::std_srvs, node::Node, service::client::Client};
use std::sync::Arc;

fn create_new_client(node: Arc<Node>) -> Client<std_srvs::srv::Empty> {
    node.create_client("service_name", None).unwrap()
}

Trait Implementations

impl Drop for Node

fn drop(&mut self)

Executes the destructor for this type.

impl Send for Node

impl Sync for Node