Crate spatialrust_runtime 

Bounded pipelines, tracing, diagnostics, and ROS 2 CDR/loopback adapters.

Enable ros2 for PointCloud2 CDR codecs and negotiation without linking rclrs. Native ROS 2 executors remain an install-time toolchain concern.

Structs

BoundedPipeline

Bounded FIFO pipeline with tracing.

CatalogRos2Adapter

In-memory catalog adapter used by default builds with ros2 enabled.

CompiledSpatialGraph

Validated graph with a bounded input queue.

DiagnosticCode

Machine-readable diagnostic code.

ExecutionReceipt

Per-run schedule, transfer, and backpressure evidence.

FailureDiagnostic

Structured failure diagnostic.

FnOperator

Closure-backed graph operator.

GraphNodeSpec

Static placement and fusion properties for one operator.

LoopbackRos2Node

In-process loopback node for testing ROS-shaped publish/subscribe without rclrs.

PipelineConfig

Pipeline capacity / timeout configuration.

PipelineStage

Named pipeline stage.

PointCloud2Xyz

Interleaved XYZ or XYZ-I PointCloud2 payload.

Ros2MessageHint

Hint describing a ROS 2 message mapping.

SpatialExecutionGraph

Mutable graph builder. Compilation freezes topology and validates transfers.

TfTransform

One geometry_msgs/msg/TransformStamped decoded from a ROS 2 TFMessage.

TraceEvent

One pipeline trace event.

TraceLog

Append-only trace log.

Enums

RuntimeError

Failures in bounded pipelines and adapters.

TraceLevel

Trace severity.

Constants

POINT_CLOUD2_TYPE

Canonical ROS 2 type name for PointCloud2.

TF_MESSAGE_TYPE

Canonical ROS 2 type name for TFMessage.

Traits

GraphOperator

Stateful transformation executed at one graph node.

Ros2Adapter

Adapter interface for ROS 2 type negotiation.

Functions

decode_point_cloud2_xyz

Decodes an XYZ or XYZ-I PointCloud2 from ROS 2 CDR little-endian bytes.

decode_tf_message

Decodes a ROS 2 CDR little-endian tf2_msgs/msg/TFMessage payload.

encode_point_cloud2_xyz

Encodes an XYZ or XYZ-I PointCloud2 as ROS 2 CDR little-endian bytes.

point_cloud2_has_intensity

Inspects a PointCloud2 CDR header without materializing its point data.

Type Aliases

RuntimeResult

Result type for runtime operations.