pubsub

Topic publishers and subscriptions. More...

Files
file	publisher.h
	Topic publisher API.
file	subscription.h
	Topic subscription API.

Detailed Description

Topic publishers and subscriptions.

nros_publisher_t sends typed (or raw-CDR) messages on a topic; nros_subscription_t receives them. Subscriptions can run with a callback registered on the executor, or be polled manually with nros_subscription_take.

nros_publisher_t pub = nros_publisher_get_zero_initialized();
nros_publisher_init(&pub, &node, &type_info, "/chatter");
nros_publish_raw(&pub, cdr_buf, cdr_len);

See also

executor, qos