Ros2TransportPort
@totemsdk/edge-ros2 / Ros2TransportPort
Interface: Ros2TransportPort
ROS 2 transport port — injected by the caller.
ROS 2 uses DDS (Data Distribution Service) middleware for discovery, publish/subscribe, and service calls. The caller provides the DDS implementation (eProsima Fast DDS, Cyclone DDS, or rmw layer).
Methods
createClient()
createClient(
service,serviceType):Promise<Ros2Client>
Create a service client.
Parameters
service
string
serviceType
string
Returns
Promise<Ros2Client>
createPublisher()
createPublisher(
topic,messageType):Promise<Ros2Publisher>
Create a publisher on a typed topic.
Parameters
topic
string
messageType
string
Returns
Promise<Ros2Publisher>
createService()
createService(
service,serviceType,handler):Promise<Ros2Server>
Create a service server.
Parameters
service
string
serviceType
string
handler
(request) => Promise<Ros2Message>
Returns
Promise<Ros2Server>
createSubscription()
createSubscription(
topic,messageType,handler):Promise<Ros2Subscription>
Create a subscription on a typed topic.
Parameters
topic
string
messageType
string
handler
(msg) => void
Returns
Promise<Ros2Subscription>
init()
init(
args?):Promise<void>
Initialise the ROS 2 context.
Parameters
args?
string[]
Returns
Promise<void>
onError()
onError(
handler): () =>void
Register handler for node errors.
Parameters
handler
(err) => void
Returns
() => void
shutdown()
shutdown():
Promise<void>
Shutdown the ROS 2 context.
Returns
Promise<void>