Micro-XRCE-DDS-Client/examples/SubscribeHelloWorld/README.md

SubscribeHelloWorld example

This example will show how to receive data from the DDS World creating a client subscriber. In order to compile this example, the following profiles should be enabled:

• UCLIENT_PROFILE_UDP

Usage

1. Run an agent in a certain port, for example, 2018: MicroXRCEAgent udp4 -p 2018.
2. Run the PublisherHelloWorld example or some publisher that can send the HelloWorld topic.
3. Run the SubscriberHelloWorld example. The example expects first and second argument to be IP address and port where the Micro XRCE-DDS Agent is running. It can also be parameterized with the amount of times that the topic will be listened. If no number is given, the publisher will publish indefinitely.

Topic

The HelloWorld topic has the following IDL representation:

struct HelloWorld
{
	unsigned long index;
	string message;
};