Struct LoopbackRos2Node 

pub struct LoopbackRos2Node { /* private fields */ }

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

Implementations

impl LoopbackRos2Node

pub fn new() -> Self

Creates an empty node.

pub fn publish(&mut self, topic: impl Into<String>, payload: Vec<u8>)

Publishes one CDR payload on a topic (replacing the previous sample).

pub fn take(&mut self, topic: &str) -> Option<Vec<u8>>

Takes the latest payload for a topic, if any.

pub fn has_topic(&self, topic: &str) -> bool

Returns whether a topic currently has a sample.

Trait Implementations

impl Clone for LoopbackRos2Node

fn clone(&self) -> LoopbackRos2Node

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for LoopbackRos2Node

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for LoopbackRos2Node

fn default() -> LoopbackRos2Node

Returns the “default value” for a type.