Get the internal values vector (for serialization).

Poll the received-buffer length until it reaches `expected` or `timeout` elapses. Returns the final length.

Set the message size threshold for using SHM. Messages with serialized size >= this threshold will use SHM. Messages smaller will use regular memory

CreateActionServer creates a new action server builder

CreateServiceServer creates a new service server builder

Message returns the error message without the code

Publish publishes a message

PublishFeedback publishes feedback for the goal

QosDurationInfinite returns an infinite duration (the default for QoS time constraints). The encoding follows the ROS 2 / DDS convention for "infinit

TypeHash returns the ROS 2 type hash (RIHS01 format)

Add a local entity to the graph for immediate discovery This is used to make local publishers/subscriptions/services/clients immediately visible in gr

Build the Zenoh config. Also available via the [`Builder`](crate::Builder) trait.

Request cancellation of this goal.

Requests cancellation of this goal. # Returns The cancellation response from the server.

Common overrides shared between router and session configs (10 settings)

Create a dynamic subscriber with automatic schema discovery. This method queries publishers on the topic for their type description and returns a rea

Create a Point schema matching geometry_msgs/msg/Point

Expires goals that have passed their expiration time. This method checks all goals with `expires_at` timestamps and removes: - Accepted/Executing goa

Get field path indices for dot notation (e.g., "linear.x"). Returns a vector of field indices for navigating nested messages.

Generate base type tokens (with external type support)

Generate .proto files from resolved ROS messages

Query the current state of the remote lifecycle node.

Get all topic names and their types. Returns list of (topic_name, type_name) tuples.

Check if a field uses ZBuf (uint8[] or byte[])

Decode msgpack bytes to a Python object of the given class using `msgspec.msgpack.decode(bytes, type=cls)`.

Helper to create a TypeDescription with a nested field referencing another type

Check if a node exists in the graph Returns true if the node exists, false otherwise

Publish a message. Silently dropped (with one warning) when deactivated.

Remove a local entity from the graph

Get the dynamic schema used by this publisher. Returns `None` if the publisher was not created with `.with_dyn_schema()`.

setStatus atomically updates the goal status

Helper function to create test setup

Helper function to create test setup with client and server

Shutdown the context and release all resources

Serialize to ROS2-compatible JSON format ROS2 uses JSON with spaces after colons and commas: `{"key": "value", "key2": 2}` This matches Python's defa

Trigger a specific lifecycle transition.

Convert a TypeDescriptionMsg back to a MessageSchema.

Set the dynamic message schema for runtime-typed publishers. When a schema is set and the node has a type description service enabled, the schema wil

Enable Zenoh shared memory transport with default pool size (48 MiB). SHM transparently accelerates large message transfers between nodes on the same

CreatePublisher creates a new publisher builder

SerializeCDR serializes the message to CDR format

Status returns the current status of the goal

Minimal example_interfaces/srv/AddTwoInts_Request — two int64 fields

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

Build a Zenoh config from a set of overrides

Calculate RIHS01 hash for a service (Request + Response + Event) Based on ROS2 RIHS01 specification

call makes a synchronous service call with a default timeout of DefaultServiceTimeout. The request is serialized via CDR, sent, and the raw response b

Send a request and wait for the response with a timeout.

Mark the goal as canceled with the given result.

Create an action client. `goal_type`, `result_type`, `feedback_type` must be msgspec classes with `__msgtype__` and `__hash__` attributes (from `hiro

Create a service client

Build a context connected to a Zenoh router. Pass an explicit endpoint (from `--endpoint`) or fall back to `tcp/127.0.0.1:7447`.

Create a dynamic publisher for the given topic. If this node has a type description service enabled, the schema will be automatically registered, all

Create a service server

Trigger the `deactivate` transition.

Format QoS profile for TUI display

Build-time JSON5 generator with comments Generates a JSON5 file with inline comments explaining each override. Converts path notation (e.g., "connect

High-level API for user crates to generate messages from `HIROZ_MSG_PATH`. This function: 1. Discovers user packages from the `HIROZ_MSG_PATH` enviro

Get all node names. Returns list of (name, namespace) tuples.

Get all node names and namespaces discovered in the graph Returns a vector of tuples (node_name, node_namespace)

Convert the writer into a ZBuf containing the serialized data. This consumes the writer and returns a ZBuf backed by the SHM buffer. Only the written

Check if any rules are defined

Validate that a topic name component (between slashes) is valid Components must start with a letter or underscore, followed by alphanumeric or undersc