Library features

Client library requirements

https://wiki.ros.org/Implementing%20Client%20Libraries

name	status
implement the slave side of the master/slave API	:heavy_check_mark:
handle node-to-node transport negotiation and connection setup	:heavy_check_mark:
handle transport-specific serialization and deserialization of messages	:heavy_check_mark:
parse command-line Remapping Arguments	:heavy_check_mark:
Subscribe to a simulated Clock	:heavy_check_mark:
publish debugging messages to rosout	:heavy_check_mark:
object representation of message types	:heavy_check_mark:
event loop for connection servicing	:heavy_check_mark:
user callback invocation on message receipt	:heavy_check_mark:

Protocols

name	status
xml-rpc	:heavy_check_mark:
TCPROS	:heavy_check_mark:
UDPROS	:heavy_check_mark:

Master API

https://wiki.ros.org/ROS/Master_API

method	client
registerService	:heavy_check_mark:
unregisterService	:heavy_check_mark:
registerSubscriber	:heavy_check_mark:
unregisterSubscriber	:heavy_check_mark:
registerPublisher	:heavy_check_mark:
unregisterPublisher	:heavy_check_mark:
lookupNode	:heavy_check_mark:
getPublishedTopics	:heavy_check_mark:
getTopicTypes	:heavy_check_mark:
getSystemState	:heavy_check_mark:
getUri	:heavy_check_mark:
lookupService	:heavy_check_mark:

Parameter Server API

https://wiki.ros.org/ROS/Parameter%20Server%20API

method	client
deleteParam	:heavy_check_mark:
setParam	:heavy_check_mark:
getParam	:heavy_check_mark:
searchParam	:heavy_check_mark:
subscribeParam
unsubscribeParam
hasParam	:heavy_check_mark:
getParamNames	:heavy_check_mark:

Slave API

https://wiki.ros.org/ROS/Slave_API

method	client	server
getBusStats
getBusInfo	:heavy_check_mark:	:heavy_check_mark:
getMasterUri
shutdown	:heavy_check_mark:	:heavy_check_mark:
getPid	:heavy_check_mark:	:heavy_check_mark:
getSubscriptions
getPublications	:heavy_check_mark:	:heavy_check_mark:
paramUpdate
publisherUpdate	:heavy_check_mark:	:heavy_check_mark:
requestTopic	:heavy_check_mark:	:heavy_check_mark: