Struct StandaloneNode 

pub struct StandaloneNode<const MAX_PUBS: usize = 8, const MAX_SUBS: usize = 8> { /* private fields */ }

ROS 2 Node for embedded systems

The node manages publishers and subscribers with static allocation. MAX_PUBS and MAX_SUBS define the maximum number of publishers and subscribers that can be created.

Type Parameters

• MAX_PUBS: Maximum number of publishers
• MAX_SUBS: Maximum number of subscribers

Implementations

impl<const MAX_PUBS: usize, const MAX_SUBS: usize> Node<MAX_PUBS, MAX_SUBS>

pub fn new( config: NodeConfig<'_>, ) -> Result<Node<MAX_PUBS, MAX_SUBS>, NodeError>

Create a new node with the given configuration

pub fn name(&self) -> &str

Get the node name

pub fn namespace(&self) -> &str

Get the node namespace

pub fn domain_id(&self) -> u32

Get the domain ID

pub fn fully_qualified_name(&self) -> Result<String<128>, NodeError>

Get the fully qualified node name.

Phase 192.1 — fallible: namespace (≤64) + / + name (≤64) can reach 129 bytes, one over the String<128> capacity, so a maxed name+namespace would otherwise silently truncate the FQN.

pub fn create_publisher<M>( &mut self, options: PublisherOptions<'_>, ) -> Result<PublisherHandle<M>, NodeError>

where M: RosMessage,

Create a publisher with the given options

pub fn create_subscriber<M>( &mut self, options: SubscriberOptions<'_>, ) -> Result<SubscriberHandle<M>, NodeError>

where M: RosMessage,

Create a subscriber with the given options

pub fn publisher_topic_info( &self, handle: PublisherHandle<()>, ) -> Option<TopicInfo<'_>>

Get topic info for a publisher

pub fn subscriber_topic_info( &self, handle: SubscriberHandle<()>, ) -> Option<TopicInfo<'_>>

Get topic info for a subscriber

pub fn serialize_message<M>( &mut self, _handle: &PublisherHandle<M>, msg: &M, ) -> Result<&[u8], NodeError>

where M: RosMessage,

Serialize a message for publishing

Returns the serialized bytes. The caller is responsible for sending the bytes via the transport layer.

pub fn deserialize_message<M>( &self, _handle: &SubscriberHandle<M>, data: &[u8], ) -> Result<M, NodeError>

where M: RosMessage,

Deserialize a received message

The caller provides the raw bytes received from the transport layer.

pub fn publisher_count(&self) -> usize

Get the number of active publishers

pub fn subscriber_count(&self) -> usize

Get the number of active subscribers

Trait Implementations

impl<const MAX_PUBS: usize, const MAX_SUBS: usize> Default for Node<MAX_PUBS, MAX_SUBS>

fn default() -> Node<MAX_PUBS, MAX_SUBS>

Returns the “default value” for a type.