Fast DDS
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Introduction

  • DDS API
  • Fast DDS-Gen
  • RTPS Wire Protocol
  • Main Features
  • Contacts and Commercial support
  • Contributing to the documentation
  • Structure of the documentation

Installation Manual

  • 1. Linux installation from binaries
  • 2. Windows installation from binaries
  • 3. Linux installation from sources
  • 4. Windows installation from sources
  • 5. Mac OS installation from sources
  • 6. QNX 7.1 installation from sources
  • 7. CMake options

Fast DDS

  • 1. Getting Started
  • 2. Library Overview
  • 3. DDS Layer
    • 3.1. Core
    • 3.2. Domain
    • 3.3. Publisher
      • 3.3.1. Publisher
      • 3.3.2. PublisherListener
      • 3.3.3. Creating a Publisher
      • 3.3.4. DataWriter
      • 3.3.5. DataWriterListener
      • 3.3.6. Creating a DataWriter
      • 3.3.7. Publishing data
    • 3.4. Subscriber
    • 3.5. Topic
  • 4. RTPS Layer
  • 5. Discovery
  • 6. Transport Layer
  • 7. Persistence Service
  • 8. Security
  • 9. Logging
  • 10. Statistics Module
  • 11. XML profiles
  • 12. Environment variables
  • 13. PropertyPolicyQos Options
  • 14. Dynamic Topic Types
  • 15. Typical Use-Cases
  • 16. ROS 2 using Fast DDS middleware
  • 17. C++ API Reference
  • 18. Python API Reference

Fast DDS-Gen

  • 1. Introduction
  • 2. Usage
  • 3. Building a publish/subscribe application
  • 4. Building Python auxiliary libraries
  • 5. Defining a data type via IDL

Fast DDS CLI

  • 1. CLI

Docker Images

  • 1. Docker Images

Release Notes

  • Version 2.11.2
  • Previous versions
Fast DDS
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  • 3. DDS Layer »
  • 3.3. Publisher
  • Edit on GitHub

3.3. PublisherΒΆ

A publication is defined by the association of a DataWriter to a Publisher. To start publishing the values of a data instance, the application creates a new DataWriter in a Publisher. This DataWriter will be bound to the Topic that describes the data type that is being transmitted. Remote subscriptions that match with this Topic will be able to receive the data value updates from the DataWriter.

../../../_images/publisher_class_diagram.svg
  • 3.3.1. Publisher
    • 3.3.1.1. PublisherQos
      • 3.3.1.1.1. Default PublisherQos
  • 3.3.2. PublisherListener
  • 3.3.3. Creating a Publisher
    • 3.3.3.1. Profile based creation of a Publisher
    • 3.3.3.2. Deleting a Publisher
  • 3.3.4. DataWriter
    • 3.3.4.1. DataWriterQos
      • 3.3.4.1.1. Default DataWriterQos
  • 3.3.5. DataWriterListener
    • 3.3.5.1. on_unacknowledged_sample_removed callback
  • 3.3.6. Creating a DataWriter
    • 3.3.6.1. Profile based creation of a DataWriter
    • 3.3.6.2. Creating a DataWriter with a custom PayloadPool
    • 3.3.6.3. Deleting a DataWriter
  • 3.3.7. Publishing data
    • 3.3.7.1. Blocking of the write operation
    • 3.3.7.2. Borrowing a data buffer
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