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Implementing Client Libraries

NOTE: this page is just a collection of notes right now. Apologies.

It is highly recommended that you read the ROS Technical Overview first. It describes the general interaction of these APIs.

At a minimum, a client library MUST:

A client library SHOULD also:

In addition, client libraries generally offer other features, such as:

Message generation

Message generators commonly include two fields within the generated source code that is required during Topic/Service connection:

Topic/Service Connection

Nodes usually spin up a TCP/IP server socket to receive both TCPROS-based Topic connections as well as all Service connections. The client will send the server a ROS/Connection_Header, which can be used the route the inbound connection to the appropriate Topic/Service handler. For more information on these fields, see the ROS/Connection_Header documentation.

2024-06-15 12:25