TypeName returns the full ROS 2 type name (e.g., "std_msgs/msg/String")

Call the service and wait indefinitely for the first reply.

Parse all messages from the corpus.

Attempt to apply the given transition from the current primary state. The `callback` closure receives the current *primary* state before the transiti

Returns the raw bytes of this GoalId. # Returns A reference to the 16-byte array containing the UUID.

Trigger the `configure` transition.

Parse a default value

Parse a .msg file from a string

Qualify a topic name according to ROS 2 naming rules This function takes a topic name and qualifies it based on the node's namespace and name. Rules

Serialize a dynamic message to CDR bytes.

Convenience method: set mode (peer, client, router)

Switch to application-level timestamp extraction. The extractor receives a reference to the deserialized message and returns a `SystemTime` represent

Declare a parameter with a default value and descriptor. If an override exists for this parameter name, the override value is used instead of the def

The ONLY way to access goal state. This method enforces that all state access happens in a synchronous closure, preventing accidental lock-across-awa

Register a schema and return the Arc for sharing.

Set a temporary status message that will auto-reset after timeout

Minimal std_msgs/msg/String — single "data" field of type string

Set the namespace for the node

WithDomainID sets the ROS domain ID

Create a ByteMultiArray message with specified size.

Deserialize a dynamic message from CDR bytes.

Convenience method: disable multicast scouting

Get the GID (globally unique identifier) for this endpoint. Returns `None` for endpoints without node identity (e.g. Ros2Dds-format liveliness tokens)

Get a parsed message by name.

Get the key for this node (namespace, name)

Resolve all messages from the listed packages using the bundled Jazzy assets. Returns a map from `pkg/msg/TypeName` to the resolved message (which ca

Set the value of a declared parameter. Returns the result indicating success or failure with a reason. The change will be validated against the param

Helper to create a test context and node

Non-blocking receive. Returns `Some(item)` if an item was available, `None` otherwise.

Attaches an automatic goal handler to the server. This method transitions the server from "manual mode" (where you call `recv_goal()`) to "automatic

Add a JSON configuration override # Example ``` use serde_json::json; use hiroz::context::ZContextBuilder; use hiroz::Builder; let ctx = ZContextBui

BuildWithCallback creates the subscriber with a custom callback handler. The handler is invoked on a C/Rust thread — avoid long blocking operations.

String returns the string representation of the goal status

ToCbDropHandler returns the callback function, optional drop function, and receive channel. For callback-based handlers, the channel is nil. For chann

Add a remapping rule Format: "from:=to"

Disable multicast scouting (useful for isolated tests)

Discover all messages, services, and actions from multiple package paths

Parse a field type string (e.g., "uint8[]", "geometry_msgs/Point", "string<=50")

Qualify a service name according to ROS 2 naming rules Service names follow the same rules as topic names

Start a new Zenoh router on the given or a random port.

Set the encoding format for published messages. This encoding will be transmitted with each message, allowing subscribers to determine the serializat

DeserializeCDR deserializes CDR data into the message

DeserializeCDR deserializes CDR data into the message

GetResult returns the result message type

Is reports whether target matches this error by comparing error codes. This enables errors.Is() support for HirozError. Uses direct type assertion (no

Stop stops the Zenoh router

Remove all messages from the cache.

Discover and parse all messages in a package directory

Get field value by name with type conversion. Supports dot notation for nested fields (e.g., "linear.x").

Generate liveliness token for endpoint entity discovery.

Parse action definition from string content

Parse a .srv file from a string

Async receive - waits until an item is available. This method is cancel-safe: if the future is dropped before completion, no item will be lost.

Resolve corpus messages for hashing. Excludes WStrings because TypeId has no array variants for wstring (WSTRING_ARRAY etc. are not defined in the sch

Generate topic key expression for data publication/subscription.

Set the ROS domain ID

Add schema information to this encoding # Example ``` use hiroz::encoding::Encoding; let encoding = Encoding::protobuf() .with_schema("geometry_msg

CreateServiceClient creates a new service client builder

SendGoal sends a goal to the action server and returns a goal handle

SerializeCDR serializes the message to CDR format

All packages needed to resolve the geometry/sensor/nav message types used in the tests below.

Check if an implementation_identifier pointer matches rmw_zenoh_rs. Returns true if it matches, false otherwise.

Create a builder for a new ROS 2 node within this context. Create a lifecycle node builder. Call `.build()` on the returned builder (requires `use h

Get a reference to the endpoint entity for this publisher.