Struct NodeOptions

Source

pub struct NodeOptions<'a> { /* private fields */ }

Expand description

A set of options for creating a Node.

The builder pattern, implemented through IntoNodeOptions, allows selectively setting some fields, and leaving all others at their default values.

The default values for optional fields are:

namespace: "/"
use_global_arguments: true
arguments: []
enable_rosout: true
start_parameter_services: true
clock_type: ClockType::RosTime
clock_qos: QOS_PROFILE_CLOCK

§Example

let executor = Context::default().create_basic_executor();

// Building a node with default options
let node = executor.create_node("foo_node");

// Building a node with a namespace
let node = executor.create_node("bar_node".namespace("/bar"))?;
assert_eq!(node.name(), "bar_node");
assert_eq!(node.namespace(), "/bar");

// Building a node with a namespace and no parameter services
let node = executor.create_node(
    "baz"
    .namespace("qux")
    .start_parameter_services(false)
)?;

// Building node options step-by-step
let mut options = NodeOptions::new("goose");
options = options.namespace("/duck/duck");
options = options.clock_type(ClockType::SteadyTime);

let node = executor.create_node(options)?;
assert_eq!(node.fully_qualified_name(), "/duck/duck/goose");

Implementations§

Source §

impl<'a> NodeOptions<'a>

Source

pub fn new(name: &'a str) -> NodeOptions<'a>

Creates a builder for a node with the given name.

See the Node docs for general information on node names.

§Rules for valid node names

The rules for a valid node name are checked by the rmw_validate_node_name() function. They are:

Must contain only the a-z, A-Z, 0-9, and _ characters
Must not be empty and not be longer than RMW_NODE_NAME_MAX_NAME_LENGTH
Must not start with a number

Note that node name validation is delayed until Executor::create_node.

§Example

let executor = Context::default().create_basic_executor();
// This is a valid node name
assert!(executor.create_node(NodeOptions::new("my_node")).is_ok());
// This is another valid node name (although not a good one)
assert!(executor.create_node(NodeOptions::new("_______")).is_ok());
// This is an invalid node name
assert!(matches!(
    executor.create_node(NodeOptions::new("röböt")).unwrap_err(),
    RclrsError::RclError { code: RclReturnCode::NodeInvalidName, .. }
));