Topics (Publishers And Subscribers)


ROS provides a publish and subscribe mechanism on message buses called topics.

More information about the ROS messages can be found on the Messages page.

Custom Subscriber Callbacks

You can implement custom subscriber callbacks by using the boost::bind class.


Smart Pointer Behaviour

Subscribers have built-in smart pointer like behaviour.

Once all copies of a subscriber go out of scope, the callback function will not be called anymore. Once all subscribers for a particular topic go out of scope, the topic will be unsubscribed.

Posted: December 21st, 2016 at 9:01 pm
Last Updated on: December 21st, 2016 at 9:38 pm