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What is the component for the messaging system?

asked 2014-12-02 08:37:22 -0600

SR gravatar image

I want to have a close look at the messaging i.e. how ROS sends messages from publishers to subscribers. For that I would like to have a look in the code. What is the component that represent the messaging transport system that ties together publishers and subscribers? Where do I find the code?

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answered 2014-12-02 14:52:48 -0600

ahendrix gravatar image

I would start by looking at the publisher and subscriber classes within roscpp and rospy, and dig into the supporting packages from there.

Most packages provide an auto-generated source link on their wiki page: http://wiki.ros.org/roscpp . For roscpp, the code is in ros_comm/clients/roscpp

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Thanks the pointer to roscpp gave me a good starting point.

SR gravatar imageSR ( 2014-12-02 17:04:50 -0600 )edit

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Asked: 2014-12-02 08:37:22 -0600

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Last updated: Dec 02 '14