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 any-more. Once all subscribers for a particular topic go out of scope, the topic will be un-subscribed.
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