Struct rosrust::api::Ros

[+] Show declaration

pub struct Ros { /* fields omitted */ }

Methods

impl Ros[−]

pub fn new(name: &str) -> Result<Ros>

pub fn uri(&self) -> &str

pub fn name(&self) -> &str

pub fn hostname(&self) -> &str

pub fn bind_address(&self) -> &str

pub fn now(&self) -> Time

pub fn delay(&self, d: Duration) -> Delay

pub fn shutdown_sender(&self) -> Arc<ShutdownManager>

pub fn rate(&self, rate: f64) -> Rate

pub fn is_ok(&self) -> bool

pub fn spin(&self) -> Spinner

pub fn param(&self, name: &str) -> Option<Parameter>

pub fn parameters(&self) -> Result<Vec<String>, ResponseError>

pub fn state(&self) -> Result<SystemState, ResponseError>

pub fn topics(&self) -> Result<Vec<Topic>, ResponseError>

pub fn client<T: ServicePair>(&self, service: &str) -> Result<Client<T>>

pub fn wait_for_service(
    &self,
    service: &str,
    timeout: Option<Duration>
) -> Result<()>

pub fn service<T, F>(&self, service: &str, handler: F) -> Result<Service> where
    T: ServicePair,
    F: Fn(T::Request) -> Result<T::Response, String> + Send + Sync + 'static, 

pub fn subscribe<T, F>(
    &self,
    topic: &str,
    queue_size: usize,
    callback: F
) -> Result<Subscriber> where
    T: Message,
    F: Fn(T) + Send + 'static, 

pub fn subscribe_with_ids<T, F>(
    &self,
    topic: &str,
    queue_size: usize,
    callback: F
) -> Result<Subscriber> where
    T: Message,
    F: Fn(T, &str) + Send + 'static, 

pub fn publish<T>(&self, topic: &str, queue_size: usize) -> Result<Publisher<T>> where
    T: Message, 

pub fn log(&self, level: i8, msg: String, file: &str, line: u32)