Struct r2r::PublisherUntyped

pub struct PublisherUntyped { /* private fields */ }

A ROS (untyped) publisher.

This contains a Weak Arc to an “untyped” publisher. As such it is safe to move between threads.

Implementations

impl PublisherUntyped

pub fn publish(&self, msg: Value) -> Result<()>

Publish an “untyped” ROS message represented by a serde_json::Value.

It is up to the user to make sure the fields are correct.

pub fn publish_raw(&self, data: &[u8]) -> Result<()>

Publish an pre-serialized ROS message represented by a &[u8].

It is up to the user to make sure data is a valid ROS serialized message.

pub fn get_inter_process_subscription_count(&self) -> Result<usize>

Gets the number of external subscribers (i.e. it doesn’t count subscribers from the same process).

pub fn wait_for_inter_process_subscribers( &self, ) -> Result<impl Future<Output = Result<()>>>

Waits for at least one external subscriber to begin subscribing to the topic. It doesn’t count subscribers from the same process.

Trait Implementations

impl Clone for PublisherUntyped

fn clone(&self) -> PublisherUntyped

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for PublisherUntyped

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Send for PublisherUntyped