Crate nros_rmw 

RMW (ROS Middleware) abstraction layer for nros.

This crate provides the middleware-agnostic transport traits that backend crates (nros-rmw-zenoh, nros-rmw-xrce) implement. Application code depends on these traits, not on a concrete backend, so the transport can be swapped at compile time via Cargo features.

Trait hierarchy

Rmw              — top-level factory, creates Sessions
└─ Session       — connection lifecycle, creates handles
   ├─ Publisher   — publish serialised messages
   ├─ Subscriber  — receive messages (polling or callback)
   ├─ ServiceServer — request/reply (server side)
   └─ ServiceClient — request/reply (client side)

See traits for the full trait definitions.

Features

• std — Enable standard library support
• alloc — Enable heap allocation

Synchronization Backends

• sync-spin — Use spin::Mutex (default, works everywhere)
• sync-critical-section — Use critical sections (RTIC/Embassy compatible)

Re-exports

pub use event::CountStatus;

pub use event::DeadlineMissedStatus;

pub use event::EventCallback;

pub use event::EventKind;

pub use event::EventPayload;

pub use event::LivelinessChangedStatus;

pub use event::MessageLostStatus;

pub use event::payload_from_raw;

pub use custom_transport::NROS_TRANSPORT_OPS_ABI_VERSION_V1;

pub use custom_transport::NrosTransportOps;

pub use custom_transport::peek_custom_transport;

pub use custom_transport::set_custom_transport;

pub use custom_transport::take_custom_transport;

pub use type_descriptor::TypeDescriptorRegistrar;

pub use type_descriptor::has_type_descriptor_registrar;

pub use type_descriptor::register_type_descriptor;

pub use type_descriptor::set_type_descriptor_registrar;

pub use traits::ActionInfo;

pub use traits::LocatorProtocol;

pub use traits::Publisher;

pub use traits::QosDurabilityPolicy;

pub use traits::QosHistoryPolicy;

pub use traits::QosLivelinessPolicy;

pub use traits::QosOverride;

pub use traits::QosOverrideRole;

pub use traits::QosOverrideValue;

pub use traits::QosPolicyMask;

pub use traits::QosReliabilityPolicy;

pub use traits::QosSettings;

pub use traits::Rmw;

pub use traits::RmwConfig;

pub use traits::ServiceClientTrait;

pub use traits::ServiceInfo;

pub use traits::ServiceRequest;

pub use traits::ServiceServerTrait;

pub use traits::Session;

pub use traits::SessionMode;

pub use traits::Subscriber;

pub use traits::TopicInfo;

pub use traits::Transport;

pub use traits::TransportConfig;

pub use traits::TransportError;

pub use traits::locator_protocol;

pub use traits::validate_locator;

Modules

custom_transport

Phase 115.A — runtime-pluggable custom transport vtable.

event

Status-event surface (Phase 108).

sync

Synchronization primitives abstraction

traits

Transport abstraction traits.

type_descriptor

Phase 248 (C2) — generic per-type descriptor registration seam.

Structs

MessageInfo

Metadata about a received message