Crate nros_core 

Core types, traits, and abstractions for nros

This crate provides the foundational types and traits for nros:

• RosMessage trait for message types
• RosService trait for service types
• RosAction trait for action types
• ServiceServer and ServiceClient for service communication
• Time and Duration types
• Error types

Re-exports

pub use action::ActionClient;

pub use action::ActionServer;

pub use action::CancelResponse;

pub use action::GoalId;

pub use action::GoalInfo;

pub use action::GoalResponse;

pub use action::GoalStatus;

pub use action::GoalStatusStamped;

pub use action::RosAction;

pub use clock::Clock;

pub use clock::ClockType;

pub use error::ErrorContext;

pub use error::NanoRosError;

pub use error::NanoRosErrorFilter;

pub use error::NestedError;

pub use error::RclReturnCode;

pub use error::TakeFailedAsNone;

pub use lifecycle::LifecycleState;

pub use lifecycle::LifecycleTransition;

pub use lifecycle::TransitionResult;

pub use logger::Logger;

pub use logger::OnceFlag;

pub use message_info::MessageInfo;

pub use message_info::PUBLISHER_GID_SIZE;

pub use message_info::RawMessageInfo;

pub use service::ServiceCallback;

pub use service::ServiceClient;

pub use service::ServiceRequest;

pub use service::ServiceResult;

pub use service::ServiceServer;

pub use time::Duration;

pub use time::Time;

pub use types::BorrowedMessage;

pub use types::RosMessage;

pub use types::RosService;

pub use heapless;

Modules

action

ROS 2 Action types

clock

Clock API for nros

error

Unified error types for nros

heap

Heap-backed containers for generated mode = "heap" message fields (RFC-0033). Available whenever an allocator is (the alloc or std feature). Generated code refers to nros_core::heap::{Vec, String} so the same path works in both crate and inline (build.rs) codegen modes.

lifecycle

Lifecycle state machine types (REP-2002)

logger

ROS 2 compatible logging utilities

message_info

Message metadata for received messages

service

ROS 2 Service types

time

ROS time types.

types

Core ROS type traits.

Structs

CdrReader

CDR reader for deserialization

CdrWriter

CDR writer for serialization.

LeSliceView

A borrowed, alignment-agnostic view over a CDR little-endian numeric sequence (RFC-0033 borrowed mode). Borrows the raw payload bytes zero-copy; decodes elements lazily on access, so the source buffer need not be T-aligned. Valid only for the borrow lifetime 'a (the subscription callback scope).

Enums

DeserError

Deserialization error.

SerError

Serialization error.

Traits

Deserialize

Trait for types that can be deserialized from CDR format

DeserializeBorrowed

Trait for borrowed (zero-copy) deserialization from CDR format (RFC-0033 borrowed storage mode, issue 0007).

LeDecode

A little-endian-decodable fixed-width numeric element of a borrowed sequence.

Serialize

Trait for types that can be serialized to CDR format