Struct RmwConfig 

pub struct RmwConfig<'a> {
    pub locator: &'a str,
    pub mode: SessionMode,
    pub domain_id: u32,
    pub node_name: &'a str,
    pub namespace: &'a str,
    pub properties: &'a [(&'a str, &'a str)],
}

Middleware-agnostic session configuration.

RmwConfig provides a uniform interface that any RMW backend can interpret. Backends map the universal fields to their own connection parameters and interpret properties for anything backend-specific.

Examples

use nros_rmw::{RmwConfig, SessionMode};

let config = RmwConfig {
    locator: "tcp/192.168.1.1:7447",
    mode: SessionMode::Client,
    domain_id: 0,
    node_name: "talker",
    namespace: "",
    properties: &[],
};

Fields

locator: &'a str

Middleware-specific connection string.

• zenoh: "tcp/192.168.1.1:7447" or "udp/224.0.0.224:7447"
• XRCE-DDS: "udp/192.168.1.1:2019"

mode: SessionMode

Session mode (zenoh: client/peer; XRCE-DDS: always client)

domain_id: u32

ROS 2 domain ID (maps to DDS domain or zenoh key prefix)

node_name: &'a str

Node name (e.g., "talker")

namespace: &'a str

Node namespace (e.g., "" or "/ns1")

properties: &'a [(&'a str, &'a str)]

Backend-specific key/value properties.

Uniform escape hatch for backend-specific tuning that doesn’t fit the universal fields above. Each backend documents the keys it understands; unknown keys are ignored. Passing &[] is always valid.

Examples:

• zenoh: "tls.root_ca", "scouting.multicast.enabled"
• XRCE-DDS: "agent_port", "client_key"

Trait Implementations

impl<'a> Clone for RmwConfig<'a>

fn clone(&self) -> RmwConfig<'a>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<'a> Debug for RmwConfig<'a>

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

Formats the value using the given formatter.

impl Default for RmwConfig<'_>

fn default() -> RmwConfig<'_>

Returns the “default value” for a type.

impl<'a> Copy for RmwConfig<'a>