Messenger: A Tiny Class Implemented ROS Like Pub/Sub Messaging.

Messenger: A light-weight, efficient, thread-safe message publish and subscribe tool similar with ROS, a popular robot operating system.

The tool has the following features:

• Header only based on c++11, no extra dependency, makes it portable.
• Thread safe and support multi-thread condition notify mode by setting the queue size.
• Able to transfer any classes efficiently, including ROS defined messages, which means it can replace ROS messagging or work with it.

// example.cpp
#include <GSLAM/core/Messenger.h>

using namespace GSLAM;

int main(int argc,char** argv)
{
    Subscriber sub=messenger.subscribe("topic_name",[](std::string msg){
        std::cerr<<"Received string msg "<<msg<<std::endl;
    });

    // publish message without creating a Publisher
    messenger.publish("topic_name","hello world!");

    Publisher pub=messenger.advertise<std::string>("topic_name");
    pub.publish("hello Messenger!");

    return 0;
}

Warning

The Subscriber will auto shutdown, please hold the Subscriber instance until you want to unsubscribe.

Inter-process Messaging through Network

The core Messenger only provides high performance intra messaging, extra work is needed to support inter-process communication.

GSLAM implemented some plugins to let Messenger support network messaging.

gslam_nsq: https://github.com/pi-gslam/gslam_nsq