Extract type information from a msgspec message class. `__msgtype__` (a string like `"my_pkg/msg/Goal"`) is required. `__hash__` (a RIHS01 string) is

Parse a YAML string and extract parameter overrides for the given node.

Resolve multiple services

Receive the next service request (blocking)

Trigger an arbitrary transition by [`TransitionId`]. Returns `Ok(true)` when the lifecycle node accepted the transition.

Try to receive a message without blocking Returns: Message as dict, or None if no message available

Enable the type description service for this node. When enabled, the node will expose a `~get_type_description` service that allows other nodes to qu

CreateActionClient creates a new action client builder

CreateSubscriber creates a new subscriber builder

QosDefault returns the default QoS profile (Reliable, Volatile, KeepLast(10))

Mark the goal as aborted with the given result.

Trigger the `activate` transition.

Get the data as a byte slice. # Safety The returned slice is valid as long as `self` is alive.

emitPackAlign emits inline code that pads `buf` and advances `offset` to the next align-byte boundary. No-op for align <= 1.

emitUnpackAlign emits inline code that advances `offset` to the next align-byte boundary. No-op for align <= 1.

Takes ownership of the feedback receiver. Returns `Some` the first time it's called, `None` afterwards.

Get field value as DynamicValue. Supports dot notation for nested fields (e.g., "linear.x").

All messages with timestamp in `[t_start, t_end]`, inclusive, ordered by timestamp ascending. Returns `Arc<T>` handles — no deep copy of message payl

The message whose timestamp is nearest to `t` (either side). When two messages are equidistant, the one with the earlier (before) timestamp is return

Get the value at a given percentile from sorted data.

Returns the parameter type of this value.

Publish a feedback message to the client.

Resolve multiple actions

Resolve services from the listed packages using the bundled Jazzy assets.

Send a response for a previously received request.

Helper to setup test fixtures

Mark the goal as succeeded with the given result.

Enable SHM with custom pool size. # Arguments `size_bytes` - Pool size in bytes # Example ```no_run use hiroz::context::ZContextBuilder; use hiroz::

Set SHM threshold (minimum message size for SHM). Only effective if SHM has been enabled via `with_shm_enabled()` or similar. # Example ```no_run us

Serialize and publish `msg` on the topic. Yields to the async executor while the put is in progress, making this safe to call from within a Tokio task

checkROS2Available checks if ros2 CLI is on PATH. Uses LookPath instead of running ros2 to avoid RMW initialisation failures when RMW_IMPLEMENTATION i

Classify a type for Python conversion code generation purposes.

Close the router session.

Recursively collect all referenced types

Discover and parse all actions in a package directory

Discover package name from package.xml or directory name

Discover and parse all services in a package directory

Convert float seconds to Duration

Convert an Entity to a LivelinessKE using the default format

Escape a field name if it's a Rust keyword

Export resolved messages, services, and actions to JSON

Generate Rust implementation with CDR trait impls and plainness information.

getROS2Env returns ROS2 environment setup

The most recent message with timestamp ≤ `t`, or `None` if the cache is empty or all messages are strictly after `t`. # Example ```rust,ignore let l

Get internal context reference (for use by other FFI functions) # Safety `ctx` must be a valid pointer to a `CContext` or null.

Returns the global tokio runtime used for all action async operations. The runtime is created once and lives for the program lifetime, ensuring `toki

Convert hiroz QoS profile to RMW QoS profile

Check if a base type name is a ROS primitive

List parameters matching the given prefixes and depth.

Create a matched server/client pair on the given action name.

Get the key for a message (package/name)

Get a reference to the node entity (for graph and liveliness operations).

Normalize RMW QoS profile by resolving SYSTEM_DEFAULT (0) to concrete values. This ensures get_actual_qos returns concrete policies, not SYSTEM_DEFAUL

Get percentile value from sorted list.

Helper to create a TypeDescription with primitive fields only

Access the receiver queue. # Panics Panics if the server was built with `build_with_callback()` and has no queue. Action servers always have queues

All packages needed to resolve rcl_interfaces service types.

Resolve a single message

Build a `ros2` command with rmw_zenoh_cpp environment and discovery spin time.

Complete router configuration (cached statically) Returns a Vec containing all router-specific and common overrides. The Vec is cloned from static st

Drive the server for a single goal in a background thread.

Run the calculator service client # Arguments `ctx` - The hiroz context `service_name` - Name of the service to call `operations` - List of (operatio

Run the calculator service server # Arguments `ctx` - The hiroz context `service_name` - Name of the service `max_requests` - Optional maximum number

Convert a MessageSchema to wire format TypeDescription.

Complete session configuration (cached statically) Returns a Vec containing all session-specific and common overrides. The Vec is cloned from static

Helper function to create test setup

Convert to wire format.

Try to extract type info from a message class. Returns `None` if `__msgtype__` or `__hash__` are absent or not strings — e.g. for inline msgspec stru