Returns a specification to start this module under a supervisor.

See Supervisor.

@spec create_publisher(
  node_identifier :: charlist(),
  msg_type :: charlist(),
  topic_name :: charlist()
) :: {:ok, Rclex.Publisher.id_tuple()}

Create publisher.

Arguments

• node_identifier: node identifier
• msg_types: ex) 'StdMsgs.Msg.String'
• topic_name: topic name, ex) 'test'

@spec create_publishers(
  node_identifier_list :: [node_identifier :: charlist()],
  msg_type :: charlist(),
  topic_name :: charlist(),
  type :: :single | :multi
) :: {:ok, [Rclex.Publisher.id_tuple()]}

Create multiple publishers

Arguments

• node_identifier_list: node identifier list
• msg_types: ex) 'StdMsgs.Msg.String'
• topic_name: topic name, ex) 'test'
• type: :single or :multi

type: :single

Create multiple publishers to a single topic.

+------------+                        
| publisher  +---------+              
+------------+         |              
                       |              
+------------+         |              
| publisher  +---------+              
+------------+         |     +-------+
                       +-----+ topic |
+------------+         |     +-------+
| publisher  +---------+              
+------------+         |              
                       |              
+------------+         |              
| publisher  +---------+              
+------------+                        

type: :multi

Create one-to-one publishers for multiple topics.

+------------+               +-------+
| publisher  +---------------+ topic |
+------------+               +-------+

+------------+               +-------+
| publisher  +---------------+ topic |
+------------+               +-------+

+------------+               +-------+
| publisher  +---------------+ topic |
+------------+               +-------+

+------------+               +-------+
| publisher  +---------------+ topic |
+------------+               +-------+

@spec create_subscriber(
  node_identifier :: charlist(),
  msg_type :: charlist(),
  topic_name :: charlist()
) :: {:ok, Rclex.Subscriber.id_tuple()}

Create subscriber.

Arguments

• node_identifier: node identifier
• msg_types: ex) 'StdMsgs.Msg.String'
• topic_name: topic name, ex) 'test'

@spec create_subscribers(
  [node_identifier :: charlist()],
  msg_type :: charlist(),
  topic_name :: charlist(),
  type :: :single | :multi
) :: {:ok, [Rclex.Subscriber.id_tuple()]}

Create multiple subscribers.

Arguments

• node_identifier_list: node identifier list
• msg_types: ex) 'StdMsgs.Msg.String'
• topic_name: topic name, ex) 'test'
• type: :single or :multi

type: :single

Create multiple subscribers to a single topic.

                        +------------+
              +---------+ subscriber |
              |         +------------+
              |
              |         +------------+
              +---------+ subscriber |
+-------+     |         +------------+
| topic +-----+
+-------+     |         +------------+
              +---------+ subscriber |
              |         +------------+
              |
              |         +------------+
              +---------+ subscriber |
                        +------------+

type: :multi

Create one-to-one subscribers for multiple topics.

+-------+               +------------+
| topic +---------------+ subscriber |
+-------+               +------------+

+-------+               +------------+
| topic +---------------+ subscriber |
+-------+               +------------+

+-------+               +------------+
| topic +---------------+ subscriber |
+-------+               +------------+

+-------+               +------------+
| topic +---------------+ subscriber |
+-------+               +------------+

@spec finish_job(Rclex.Publisher.id_tuple() | Rclex.Subscriber.id_tuple()) :: :ok

Finish subscribe/publish job.

@spec finish_jobs([Rclex.Publisher.id_tuple() | Rclex.Subscriber.id_tuple()]) ::
  list()

Finish subscribe/publish jobs.

@spec get_topic_names_and_types(
  node_identifier :: charlist(),
  allocator :: Rclex.Nifs.rcl_allocator(),
  no_demangle :: boolean()
) :: [{charlist(), [charlist()]}]

Get topic names and types, return example is below

[{'/topic', ['std_msgs/msg/String']}]

@spec node_get_name(node_identifier :: charlist()) :: node_identifier :: charlist()

Get Node name.