"Native" publishers

README.md

@@ -1,7 +1,7 @@
 R2R - Minimal ROS2 Rust bindings
 =============
 
-Minimal bindings for ROS2 that does *not* require hooking in to the ROS2 build infrastructure. If you want a more ROS-oriented approach, see <https://github.com/ros2-rust/ros2_rust>. In these bindings, convenience Rust types are created by calling into the c introspection libraries to circumvent the .msg/.idl pipeline. Another benefit of basing the code entirely on the exported shared libraries is that the native c types are still there when you need to trade convenience for performance. E.g. for looking into a large array of image data you can still get a pointer to the raw message.
+Minimal bindings for ROS2 that does *not* require hooking in to the ROS2 build infrastructure. If you want a more ROS-oriented approach, see <https://github.com/ros2-rust/ros2_rust>. In these bindings, convenience Rust types are created by calling into the c introspection libraries to circumvent the .msg/.idl pipeline. The convenience types can of course be ignored when you need to trade convenience for performance, e.g. treating large chunks of data manually.
 
 How to use
 ------------

examples/publish_complex_msgs.rs

@@ -1,11 +1,14 @@
 use r2r::*;
 use builtin_interfaces::msg::Duration;
 use trajectory_msgs::msg::*;
+use std_msgs::msg::Int32;
+
 
 fn main() -> Result<(), ()> {
     let mut ctx = rcl_create_context()?;
     let mut node = rcl_create_node(&mut ctx, "testnode", "")?;
     let publisher = rcl_create_publisher::<JointTrajectoryPoint>(&mut node, "/hej")?;
+    let publisher2 = rcl_create_publisher::<Int32>(&mut node, "/native_count")?;
 
     let mut c = 0;
     let cb = move |x:std_msgs::msg::String| {
@@ -17,7 +20,11 @@ fn main() -> Result<(), ()> {
             time_from_start : Duration { sec: c, nanosec: 0 },
             ..Default::default()
         };
+        let mut native = WrappedNativeMsg::<Int32>::new();
+        native.data = c;
+
         publish(&publisher, &to_send).unwrap();
+        publish_native(&publisher2, &native).unwrap();
     };
 
     let cb2 = move |x:JointTrajectoryPoint| {

src/lib.rs

@@ -240,6 +240,19 @@ where
     }
 }
 
+pub fn publish_native<T>(publisher: &rcl_publisher_t, msg: &WrappedNativeMsg<T>) -> Result<(), ()>
+where
+    T: WrappedTypesupport,
+{
+    let result = unsafe { rcl_publish(publisher, msg.void_ptr(), std::ptr::null_mut()) };
+    if result == RCL_RET_OK as i32 {
+        Ok(())
+    } else {
+        eprintln!("{}", result);
+        Err(())
+    }
+}
+
 pub fn rcl_create_subscription<T>(
     node: &mut rcl_node_t,
     topic: &str,