Struct rosrust::api::Ros

pub struct Ros { /* private fields */ }

Implementations

impl Ros

pub fn new(name: &str) -> Result<Ros>

pub fn uri(&self) -> &str

pub fn name(&self) -> &str

pub fn hostname(&self) -> &str

pub fn bind_address(&self) -> &str

pub fn now(&self) -> Time

pub fn delay(&self, d: Duration) -> Delay

pub fn shutdown_sender(&self) -> Arc<ShutdownManager>

pub fn rate(&self, rate: f64) -> Rate

pub fn is_ok(&self) -> bool

pub fn spin(&self) -> Spinner

pub fn param(&self, name: &str) -> Option<Parameter>

pub fn parameters(&self) -> Result<Vec<String>, ResponseError>

pub fn state(&self) -> Result<SystemState, ResponseError>

pub fn topics(&self) -> Result<Vec<Topic>, ResponseError>

pub fn client<T: ServicePair>(&self, service: &str) -> Result<Client<T>>

pub fn wait_for_service( &self, service: &str, timeout: Option<Duration>, ) -> Result<()>

pub fn service<T, F>(&self, service: &str, handler: F) -> Result<Service>

where T: ServicePair, F: Fn(T::Request) -> Result<T::Response, String> + Send + Sync + 'static,

pub fn subscribe<T, F>( &self, topic: &str, queue_size: usize, callback: F, ) -> Result<Subscriber>

where T: Message, F: Fn(T) + Send + 'static,

pub fn subscribe_with_ids<T, F>( &self, topic: &str, queue_size: usize, callback: F, ) -> Result<Subscriber>

where T: Message, F: Fn(T, &str) + Send + 'static,

pub fn subscribe_with_ids_and_headers<T, F, G>( &self, topic: &str, queue_size: usize, on_message: F, on_connect: G, ) -> Result<Subscriber>

where T: Message, F: Fn(T, &str) + Send + 'static, G: Fn(HashMap<String, String>) + Send + 'static,

pub fn subscribe_with<T, H>( &self, topic: &str, queue_size: usize, handler: H, ) -> Result<Subscriber>

where T: Message, H: SubscriptionHandler<T>,

pub fn publish<T>(&self, topic: &str, queue_size: usize) -> Result<Publisher<T>>

where T: Message,

pub fn publish_with_description<T>( &self, topic: &str, queue_size: usize, message_description: RawMessageDescription, ) -> Result<Publisher<T>>

where T: Message,

pub fn log(&self, level: i8, msg: String, file: &str, line: u32)

pub fn log_once(&self, level: i8, msg: String, file: &str, line: u32)

pub fn log_throttle( &self, period: f64, level: i8, msg: String, file: &str, line: u32, )

pub fn log_throttle_identical( &self, period: f64, level: i8, msg: String, file: &str, line: u32, )