ROS topic structure?

asked 2011-12-15 09:25:55 -0600

abdullah
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What is the basic structure of any topic on ROS? My aim is to convert every topic to a binary data, that can be send on a network. And again publish each topic from its respective binary data.

I am getting help from rosbag and wifi_comm packages. I am not getting complete information of basic structure of topic.

Thanks

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answered 2011-12-15 21:35:49 -0600

dornhege

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You should look at ROS' message serialization. It already does exactly what you want - convert it to binary and send it over a network.

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answered 2011-12-16 00:41:25 -0600

raahlb
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You do not have to serialize the messages yourself when using wifi_com. You just create a new instance of the WifiComm class and tell it what topics to forward and it should just work. Try looking at the file examples/wifi_comm_example.cpp in the wifi_comm package. There doesn't seem to be much of a tutorial for it, sadly, but make sure to read it to find out about how to use olsrd also.