Struct Ros

pub struct Ros {
    pub node: Arc<Mutex<Node>>,
    /* private fields */
}

ROS2 connectivity

Fields

node: Arc<Mutex<Node>>

r2r ROS node

Implementations

impl Ros

pub async fn new( name: &str, namespace: &str, debug: &Arc<RwLock<bool>>, torque: &Arc<RwLock<bool>>, online: &Arc<RwLock<bool>>, audio_input: &Arc<AudioInput>, audio_output: &Arc<AudioOutput>, video_input: &Arc<VideoInput>, uis: &Arc<UIs>, monitors: &Arc<Monitors>, ) -> Result<Arc<Self>>

Start ROS2 connectivity.

Arguments

• name - name of the node
• namespace - namespace of the node
• debug - debug flag
• torque - torque flag
• online - online flag
• uis - all connected UIs
• monitors - all connected monitors

Returns

the ROS2 connectivity object

pub async fn flush(&self)

Flush all ROS events. This should be called periodically to ensure all ROS events are processed.

pub async fn spawn_parameter_event_subscriber( &self, foreign_parameters: &Arc<ForeignParameters>, ) -> Result<()>

Spawn /parameter_events subscriber for parameter updates from foreign nodes.

Arguments

• foreign_parameters - all foreign parameters

Returns

Ok(()) if successful, Err(error) if failed

pub async fn spawn_joint_states_subscriber( &self, jointsets: &Arc<JointSets>, ) -> Result<()>

Spawn /joint_states subscriber

pub async fn spawn_monitor_subscriber( &self, node_states: &Arc<NodeStates>, ) -> Result<()>

Spawn /monitor subscriber

pub async fn publish_debug(&self)

Publish update to debug flag.

pub async fn publish_torque(&self)

Publish update to torque flag.

pub async fn publish_online(&self)

Publish update to online flag.

pub async fn publish_joint_positions(&self, jointsets: &Arc<JointSets>)

Publish current joint positions to /current_joint_states.

Arguments

• jointsets - all jointsets

pub async fn publish_joint_goals(&self, jointsets: &Arc<JointSets>)

Publish joint goals to /goal_joint_states.

Arguments

• jointsets - all jointsets

pub async fn get_all_parameters_from_node( &self, node_name: &str, blacklisted_parameters: &[&str], ) -> Result<HashMap<String, Parameter>>

Get all parameters with descriptions from a node.

Arguments

• node_name - name of the node
• blacklisted_parameters - parameters to ignore

Returns

Ok(parameters) if successful, Err(error) if failed

pub async fn set_node_parameter( &self, node_name: &str, name: &str, parameter: &Parameter, )

Set a parameter on a foreign node.

Arguments

• node_name - name of the node
• name - name of the parameter
• parameter - parameter to set

pub fn publish_to_animator(&self, message: &JsonValue)

Publish JSON message to /animation.

pub fn package_path(&self) -> Result<PathBuf>

Get the path to the mc_core package.

Returns

Ok(path) if successful, Err(error) if failed

pub fn package_share_path(&self) -> Result<PathBuf>

Get the path to the mc_core package share directory.

Returns

Ok(path) if successful, Err(error) if failed