topic-pub-sub

What problem does it solve?

Establishing robust ROS 2 pub/sub communication requires correct QoS settings, clear message flow, and reliable diagnosis of topic health. This guide teaches best practices for designing publishers and subscribers, selecting appropriate QoS, and ensuring reliable data exchange in Jazzy/Rolling.

Core Features & Use Cases

• Publisher/Subscriber patterns in Python and C++ with correct topic naming, QoS profiles, and message types.
• QoS control and diagnostics including depth, reliability, durability, and tools to verify publisher/subscriber health.
• Latched topics support for late subscribers to receive the last message.
• Multi-topic subscription patterns for data fusion and synchronized processing across topics.
• Health checks and debugging guidance using ros2 topic commands (list, info, hz, bw, echo).

Quick Start

Publish a minimal Python publisher and subscriber on a topic, then verify with ros2 topic echo.