Struct NodeBuilder 

pub struct NodeBuilder<'a, 'cfg> { /* private fields */ }

Builder returned by Executor::node_builder(name). Chainable configuration; .build() registers the Node with the Executor and returns a NodeId.

rclcpp-aligned API. Mirrors:

rclcpp::Node::make_shared("my_node",
    rclcpp::NodeOptions().use_intra_process_comms(true))

Where rclcpp uses a single NodeOptions struct, we expose the individual setters directly on the builder — fewer cycles when the user only needs one option.

Implementations

impl<'a, 'cfg> NodeBuilder<'a, 'cfg>

pub fn rmw(self, name: &'cfg str) -> Self

Select an RMW backend by name. name must match a backend registered via nros_rmw_cffi_register_named (Phase 104.B.2).

In Phase 104.C.2 (current), the name must match the backend the Executor was opened against — bridge mode lands in 104.C.3 when per-Node sessions are wired. Passing a name that doesn’t match the Executor’s session returns Err(NodeError::BackendMismatch) from .build().

pub fn locator(self, locator: &'cfg str) -> Self

Override the locator for this Node’s session. Empty / unset = use the Executor’s locator.

pub fn domain_id(self, domain_id: u32) -> Self

Override the domain id for this Node’s session.

pub fn session_idx(self, idx: u8) -> Self

Phase 172.K.5 — bind this Node to an explicit session slot (index into the sessions opened by [Executor::open_multi]: 0 = primary, N = extra_sessions[N-1]). Bypasses the rmw-based session resolution — the caller (generated multi-domain wiring) already knows the slot.

pub fn namespace(self, namespace: &'cfg str) -> Self

Namespace for handles created via this Node. Empty = “/”.

pub fn sched(self, sched: SchedContextId) -> Self

Default SchedContext for handles registered via this Node. Phase 110 integration — handles inherit this unless they pass their own SchedContext at registration time.

pub fn build(self) -> Result<NodeId, NodeError>

Register the Node with the Executor and return its NodeId. Bumps Executor.nodes.len(); fails if the table is full (NROS_EXECUTOR_MAX_NODES reached) or the name is too long.