Expand description
RTPS Submessages
Minimal subset for BEST_EFFORT QoS:
- DATA: User data
- HEARTBEAT: Writer liveliness
- ACKNACK: Reader acknowledgment (optional for RELIABLE)
Structs§
- AckNack
- ACKNACK submessage
- Data
- DATA submessage
- Heartbeat
- HEARTBEAT submessage
- Submessage
Flags - Submessage flags (1 byte)
- Submessage
Header - Submessage header (4 bytes)
Enums§
- Submessage
- Generic submessage enum
- Submessage
Kind - Submessage kind (1 byte)