Struct ExecutorConfig 

pub struct ExecutorConfig<'a> {
    pub locator: &'a str,
    pub mode: SessionMode,
    pub domain_id: u32,
    pub node_name: &'a str,
    pub namespace: &'a str,
}

Configuration for opening an embedded executor session.

Provides a backend-agnostic builder for configuring the middleware connection. The active Cargo feature (rmw-zenoh, rmw-xrce, or rmw-cffi) determines which backend is used.

Example

use nros::prelude::*;

let config = ExecutorConfig::new("tcp/127.0.0.1:7447")
    .node_name("talker")
    .domain_id(0);
let mut executor: Executor = Executor::open(&config)?;

Fields

locator: &'a str

Middleware-specific connection string.

mode: SessionMode

Session mode (client or peer).

domain_id: u32

ROS 2 domain ID.

node_name: &'a str

Node name.

namespace: &'a str

Node namespace.

Implementations

impl<'a> ExecutorConfig<'a>

pub const fn new(locator: &'a str) -> ExecutorConfig<'a>

Create a new configuration with the given locator.

Defaults: Client mode, domain 0, node name "node", empty namespace.

pub const fn default_const() -> ExecutorConfig<'a>

Phase 104.C.3.3.b — Default-style constructor with an empty locator. Most users want ExecutorConfig::from_env() to pick up ZENOH_LOCATOR / ROS_DOMAIN_ID; this is the rclcpp-NodeOptions{} shape for callers that set every field explicitly via the chaining setters.

impl<'a> ExecutorConfig<'a>

pub const fn domain_id(self, id: u32) -> ExecutorConfig<'a>

Set the ROS 2 domain ID.

pub const fn node_name(self, name: &'a str) -> ExecutorConfig<'a>

Set the node name.

pub const fn namespace(self, ns: &'a str) -> ExecutorConfig<'a>

Set the node namespace.

pub const fn mode(self, mode: SessionMode) -> ExecutorConfig<'a>

Set the session mode.

impl ExecutorConfig<'static>

pub fn from_env() -> ExecutorConfig<'static>

Create a configuration from environment variables.

Reads:

• NROS_LOCATOR — Middleware locator (default: "tcp/127.0.0.1:7447"). Legacy name ZENOH_LOCATOR is accepted with a deprecation warning.
• ROS_DOMAIN_ID — ROS 2 domain ID (default: 0).
• NROS_SESSION_MODE — Session mode: "client" or "peer" (default: "client"). Legacy name ZENOH_MODE is accepted with a deprecation warning.

Env-var values are cached in a process-global OnceLock on the first call and reused for the process lifetime — repeated calls do NOT re-read the environment and do NOT accrete memory. The returned &'static str fields point into the cache.

Trait Implementations

impl Default for ExecutorConfig<'_>

fn default() -> ExecutorConfig<'_>

Returns the “default value” for a type.