Struct rclrust::Subscription

pub struct Subscription<T> where
    T: MessageT,  { /* private fields */ }

Subscription

Implementations

impl<T> Subscription<T> where
    T: MessageT, 

pub fn topic_name(&self) -> Option<String>

Get the topic name which this subscritpion subscibes to.

Examples

let subscription =
    node.create_subscription::<Int32, _>("message", callback, &QoSProfile::default())?;
assert_eq!(&subscription.topic_name().unwrap(), "/message");

pub fn is_valid(&self) -> bool

Check if this publisher is valid or not. Normally, a return value should be true.

Examples

let subscription =
    node.create_subscription::<Int32, _>("message", callback, &QoSProfile::default())?;
assert!(subscription.is_valid());

pub fn publisher_count(&self) -> Result<usize>

Get how many publisher are publishing the topic which this subscription subscribes to.

Examples

let subscription =
    node.create_subscription::<Int32, _>("message", callback, &QoSProfile::default())?;
println!("{}", subscription.publisher_count()?);

pub fn actual_qos(&self) -> Option<QoSProfile>

Get the actual QoS settings, after the defaults have been determined.

Examples

let subscription =
    node.create_subscription::<Int32, _>("message", callback, &QoSProfile::default())?;
println!("{:?}", subscription.actual_qos().unwrap());