Where are the messages stored in ROS2 for external access ?

Lets say if I have a client-server service model performing some functions, where can I have the access to the intermediate functions ?

e.g. client sends 2 variables a and time and i multiply it in the server as res = a*time. How can I have access to this res (i mean in which folder) so that i can integrate ROS2 to another tool ? the other tool requires the information like what and when are we transferring through ROS2 (DDS).

Asked by aks on 2018-05-04 03:19:33 UTC

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Answers

I'm fairly sure that ROS2 doesn't store this information at all. It certainly won't be available in the filesystem.

If you are writing/modifying your own service provider node then you can interface this directly with your external tool. However if you're trying to access service call results from existing service provider nodes then I don't believe this is possible.

The messaging system is different however, this uses a one-to-many concept so you can make a new node that listens and monitors all messages passing through the system.

Asked by PeteBlackerThe3rd on 2018-05-04 05:44:00 UTC