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.

rcl_publisher_t sends typed (or raw-CDR) messages on a topic; rcl_subscription_t receives them through a callback registered on the executor, which owns the subscriber. A subscription polled manually is the separate type rclc_polling_subscription_t, drained with rclc_polling_subscription_take_serialized.

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

See also

executor, qos