Struct rmw_service_endpoint_info_s

Struct Documentation

struct rmw_service_endpoint_info_s

A data structure that encapsulates the node name, node namespace, service_type, service_type_hash, endpoint_count, gids and qos_profiles of clients and servers. for a service.

Public Members

const char *node_name

Name of the node.

const char *node_namespace

Namespace of the node.

const char *service_type

The associated service type’s name.

rosidl_type_hash_t service_type_hash

Hashed value for service type’s description.

rmw_endpoint_type_t endpoint_type

The endpoint type.

size_t endpoint_count

The endpoint_count value is determined as follows:

  • 1 if the middleware explicitly supports services (e.g., Zenoh).

  • 2 if request/response are represented as separate reader/writer topics (e.g., DDS).

uint8_t (*endpoint_gids)[RMW_GID_STORAGE_SIZE]

The GIDs of the endpoint(s). The array size is endpoint_count. If the middleware represents the request and response as separate topics, the GIDs should be provided sequentially in the order: reader, writer.

rmw_qos_profile_t *qos_profiles

QoS profiles of the endpoint(s). The array size is endpoint_count. If the middleware represents the request and response as separate topics, the QoS profiles should be provided sequentially in the order: reader, writer