Messages

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Overview

In this tutorial, we are going to create two nodes that are going to communicate via messages. One node will be a publisher that generates the information, whereas the other node will be the subscriber consuming the information. Our nodes will be running on different processes within the same machine.

mkdir ~/gz_transport_tutorial
cd ~/gz_transport_tutorial

Publisher

Download the publisher.cc file within the gz_transport_tutorial folder and open it with your favorite editor:

#include <atomic>
#include <chrono>
#include <csignal>
#include <iostream>
#include <string>
#include <thread>
#include <gz/msgs.hh>
#include <gz/transport.hh>
 
static std::atomic<bool> g_terminatePub(false);
 
void signal_handler(int _signal)
{
  if (_signal == SIGINT || _signal == SIGTERM)
    g_terminatePub = true;
}
 
int main(int argc, char **argv)
{
  // Install a signal handler for SIGINT and SIGTERM.
  std::signal(SIGINT,  signal_handler);
  std::signal(SIGTERM, signal_handler);
 
  // Create a transport node and advertise a topic.
  gz::transport::Node node;
  std::string topic = "/foo";
 
  auto pub = node.Advertise<gz::msgs::StringMsg>(topic);
  if (!pub)
  {
    std::cerr << "Error advertising topic [" << topic << "]" << std::endl;
    return -1;
  }
 
  // Prepare the message.
  gz::msgs::StringMsg msg;
  msg.set_data("HELLO");
 
  // Publish messages at 1Hz.
  while (!g_terminatePub)
  {
    if (!pub.Publish(msg))
      break;
 
    std::cout << "Publishing hello on topic [" << topic << "]" << std::endl;
    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
  }
 
  return 0;
}

Walkthrough

#include <gz/msgs.hh>
#include <gz/transport.hh>

The line #include <gz/transport.hh> contains all the Gazebo Transport headers for using the transport library.

The next line includes the generated protobuf code that we are going to use for our messages. We are going to publish StringMsg type protobuf messages.

// Create a transport node and advertise a topic.
gz::transport::Node node;
std::string topic = "/foo";
 
auto pub = node.Advertise<gz::msgs::StringMsg>(topic);
if (!pub)
{
  std::cerr << "Error advertising topic [" << topic << "]" << std::endl;
  return -1;
}

First of all we declare a Node that will offer some of the transport functionality. In our case, we are interested in publishing topic updates, so the first step is to announce our topic name and its type. Once a topic name is advertised, we can start publishing periodic messages using the publisher object.

// Prepare the message.
gz::msgs::StringMsg msg;
msg.set_data("HELLO");
 
// Publish messages at 1Hz.
while (!g_terminatePub)
{
  if (!pub.Publish(msg))
    break;
 
  std::cout << "Publishing hello on topic [" << topic << "]" << std::endl;
  std::this_thread::sleep_for(std::chrono::milliseconds(1000));
}

In this section of the code we create a protobuf message and fill it with content. Next, we iterate in a loop that publishes one message every second. The method Publish() sends a message to all the subscribers.

Subscriber

Download the subscriber.cc file into the gz_transport_tutorial folder and open it with your favorite editor:

#include <iostream>
#include <string>
#include <gz/msgs.hh>
#include <gz/transport.hh>
 
void cb(const gz::msgs::StringMsg &_msg)
{
  std::cout << "Msg: " << _msg.data() << std::endl << std::endl;
}
 
int main(int argc, char **argv)
{
  gz::transport::Node node;
  std::string topic = "/foo";
 
  // Subscribe to a topic by registering a callback.
  if (!node.Subscribe(topic, cb))
  {
    std::cerr << "Error subscribing to topic [" << topic << "]" << std::endl;
    return -1;
  }
 
  // Zzzzzz.
  gz::transport::waitForShutdown();
 
  return 0;
}

Walkthrough

void cb(const gz::msgs::StringMsg &_msg)
{
  std::cout << "Msg: " << _msg.data() << std::endl << std::endl;
}

We need to register a function callback that will execute every time we receive a new topic update. The signature of the callback is always similar to the one shown in this example with the only exception of the protobuf message type. You should create a function callback with the appropriate protobuf type depending on the type of the topic advertised. In our case, we know that topic /foo will contain a Protobuf StringMsg type.

gz::transport::Node node;
std::string topic = "/foo";
 
// Subscribe to a topic by registering a callback.
if (!node.Subscribe(topic, cb))
{
  std::cerr << "Error subscribing to topic [" << topic << "]" << std::endl;
  return -1;
}

After the node creation, the method Subscribe() allows you to subscribe to a given topic name by specifying your subscription callback function.

// Zzzzzz.
gz::transport::waitForShutdown();

If you don't have any other tasks to do besides waiting for incoming messages, you can use the call waitForShutdown() that will block your current thread until you hit CTRL-C. Note that this function captures the SIGINT and SIGTERM signals.

Building the code

Download the CMakeLists.txt file within the gz_transport_tutorial folder.

Once you have all your files, go ahead and create a build/ directory within the gz_transport_tutorial directory.

mkdir build
cd build

Run cmake and build the code.

# Linux and MacOS
cmake ..
make publisher subscriber
 
# Windows
cmake --build . --config Release

Running the examples

Open two new terminals and from your build/ directory run the executables.

From terminal 1:

# Linux and MacOS
./publisher
 
# Windows
.\Release\publisher.exe

From terminal 2:

# Linux and MacOS
./subscriber
 
# Windows
.\Release\subscriber.exe

In your subscriber terminal, you should expect an output similar to this one, showing that your subscriber is receiving the topic updates:

$ ./subscriber
Msg: HELLO
 
Msg: HELLO
 
Msg: HELLO
 
Msg: HELLO
 
Msg: HELLO

Advertise Options

We can specify some options before we publish the messages. One such option is to specify the number of messages published per topic per second. It is optional to use but it can be handy in situations like when we want to control the rate of messages published per topic.

We can declare the throttling option using the following code :

// Create a transport node and advertise a topic with throttling enabled.
gz::transport::Node node;
std::string topic = "/foo";
 
// Setting the throttling option
gz::transport::AdvertiseMessageOptions opts;
opts.SetMsgsPerSec(1u);
 
auto pub = node.Advertise<gz::msgs::StringMsg>(topic, opts);
if (!pub)
{
  std::cerr << "Error advertising topic [" << topic << "]" << std::endl;
  return -1;
}

Walkthrough

gz::transport::AdvertiseMessageOptions opts;
opts.SetMsgsPerSec(1u);

In this section of code, we declare an AdvertiseMessageOptions object and use it to pass message rate as an argument to SetMsgsPerSec() method. In our case, the object name is opts and the message rate specified is 1 msg/sec.

auto pub = node.Advertise<gz::msgs::StringMsg>(topic, opts);

Next, we advertise the topic with message throttling enabled. To do it, we pass opts as an argument to the Advertise() method.

Subscribe Options

A similar option is also available for the Subscriber node which enables it to control the rate of incoming messages from a specific topic. While subscribing to a topic, we can use this option to control the number of messages received per second from that particular topic.

We can declare the throttling option using the following code :

// Create a transport node and subscribe to a topic with throttling enabled.
gz::transport::Node node;
std::string topic = "/foo";
gz::transport::SubscribeOptions opts;
opts.SetMsgsPerSec(1u);
node.Subscribe(topic, cb, opts);

Walkthrough

gz::transport::SubscribeOptions opts;
opts.SetMsgsPerSec(1u);
node.Subscribe(topic, cb, opts);

In this section of code, we declare a SubscribeOptions object and use it to pass message rate as an argument to the SetMsgsPerSec() method. In our case, the object name is opts and the message rate specified is 1 msg/sec. Then, we subscribe to the topic using the Subscribe() method with opts passed as an argument to it.

Generic subscribers

As you have seen in the examples so far, the callbacks used by the subscribers contain a specific protobuf parameter, such as gz::msgs::StringMsg. As the name of this section suggests, it is also possible to create a generic subscriber callback that can receive messages of different types. This use case might be interesting if you are building a bridge between Gazebo Transport and another protocol or if you want to just print the content of a generic protobuf message using DebugString(), among other use cases.

Download the subscriber_generic.cc file within the gz_transport_tutorial folder and open it with your favorite editor:

#include <google/protobuf/message.h>
#include <iostream>
#include <string>
#include <gz/transport.hh>
 
void cb(const google::protobuf::Message &_msg,
        const gz::transport::MessageInfo &_info)
{
  std::cout << "Topic: [" << _info.Topic() << "]" << std::endl;
  std::cout << _msg.DebugString() << std::endl;
}
 
int main(int argc, char **argv)
{
  gz::transport::Node node;
  std::string topic = "/foo";
  // Subscribe to a topic by registering a callback.
  if (!node.Subscribe(topic, cb))
  {
    std::cerr << "Error subscribing to topic [" << topic << "]" << std::endl;
    return -1;
  }
 
  // Zzzzzz.
  gz::transport::waitForShutdown();
 
  return 0;
}

Walkthrough

void cb(const google::protobuf::Message &_msg,
        const gz::transport::MessageInfo &_info)
{
  std::cout << "Topic: [" << _info.Topic() << "]" << std::endl;
  std::cout << _msg.DebugString() << std::endl;
}

Here, we use the generic callback function signature. Note the use of google::protobuf::Message as the message type in the subscription callback function cb(). It enables us to receive topic updates with different message types, such as Int32 or String from the subscribed topic. Furthermore, we don't need to worry about the type of the topic advertised while specifying the callback function. The parameter gz::transport::MessageInfo &_info provides some information about the message received (e.g.: the topic name).

int main(int argc, char **argv)
{
  gz::transport::Node node;
  std::string topic = "/foo";
  // Subscribe to a topic by registering a callback.
  if (!node.Subscribe(topic, cb))
  {
    std::cerr << "Error subscribing to topic [" << topic << "]" << std::endl;
    return -1;
  }
 
  // Zzzzzz.
  gz::transport::waitForShutdown();
  return 0;
}

Similar to the previous examples, we use the Subscribe() function to subscribe to a given topic name by specifying the callback function. In our example, the topic name subscribed is /foo.

Follow the next instructions to compile and run the generic subscriber example:

Run cmake and build the example:

cd build
 
# Linux and MacOS
cmake ..
make subscriber_generic
 
# Windows
cmake --build . --config Release

From terminal 1:

# Linux and MacOS
./publisher
 
# Windows
.\Release\publisher.exe

From terminal 2:

# Linux and MacOS
./subscriber_generic
 
# Windows
.\Release\subscriber_generic.exe

Using custom Protobuf messages

We use Gazebo Msgs in most of our examples and tests. This decision was made just for convenience but Gazebo Transport supports the use of Protobuf messages directly. The most common problem with custom Protobuf messages is often the integration of the message generation into the build system of your project. Next, you can find an example of a publisher and subscriber using a custom Protobuf message integrated with CMake.

Download the publisher_custom_msg.cc and the subscriber_custom_msg.cc files within the gz_transport_tutorial. Then, create a msgs folder and download the stringmsg.proto and the CMakeLists.txt files within the msgs folder. Finally, we'll need the main CMakeLists.txt file. You should have this file from the previous examples. Otherwise, download and place it within the gz_transport_tutorial folder.

Walkthrough

There's nothing new to show in the publisher_custom_msg.cc or subscriber_custom_msg.cc besides the use of your custom Protobuf message instead of Gazebo Msgs. The only relevant parts are in the CMakeLists.txt files.

# Message generation. Only required when using custom Protobuf messages.
find_package(Protobuf REQUIRED)
add_subdirectory(msgs)
set_source_files_properties(${PROTO_SRC} ${PROTO_HEADER}
                           PROPERTIES GENERATED TRUE)
include_directories(${CMAKE_BINARY_DIR})

This is how we find the Protobuf CMake config file, to make sure that the macro for Protobuf message generation is available. We also let CMake know that there is a new subdirectory to inspect containing our custom messages.

if (EXISTS "${CMAKE_SOURCE_DIR}/publisher_custom_msg.cc")
  add_executable(publisher_custom_msg publisher_custom_msg.cc)
  target_link_libraries(publisher_custom_msg
     ${GZ-TRANSPORT_LIBRARIES}
     ${PROTO_SRC}
  )
  add_dependencies(publisher_custom_msg protobuf_compilation)
endif()
 
if (EXISTS "${CMAKE_SOURCE_DIR}/subscriber_custom_msg.cc")
  add_executable(subscriber_custom_msg subscriber_custom_msg.cc)
  target_link_libraries(subscriber_custom_msg
    ${GZ-TRANSPORT_LIBRARIES}
    ${PROTO_SRC}
  )
  add_dependencies(subscriber_custom_msg protobuf_compilation)
endif()

In the previous snippet we can see how the binaries are generated. The relevant part is to add a new dependency. We're telling CMake that these two binaries depend on the protobuf_compilation target. This will trigger the recompilation of the binaries if there is any change in our Protobuf messages. Also, we have to link our binaries with the generated Protobuf messages. The list of generated messages are contained in the ${PROTO_SRC} variable. Finally, this is the content of the msgs/CMakeLists.txt file:

PROTOBUF_GENERATE_CPP(PROTO_SRC PROTO_HEADER
  stringmsg.proto
)
 
# Variables needed to propagate through modules
# If more than one layer of cmake use CACHE INTERNAL ...
set(PROTOBUF_INCLUDE_DIRS ${PROTOBUF_INCLUDE_DIRS} PARENT_SCOPE)
set(PROTOBUF_LIBRARIES ${PROTOBUF_LIBRARIES} PARENT_SCOPE)
set(PROTO_SRC ${PROTO_SRC} PARENT_SCOPE)
set(PROTO_HEADER ${PROTO_HEADER} PARENT_SCOPE)
 
add_custom_target(protobuf_compilation DEPENDS ${PROTO_SRC})

The macro PROTOBUF_GENERATE_CPP will use protoc to generate the .pb.h and .pb.cc files from your .proto files. Follow the next instructions to compile and run the generic subscriber example:

Run cmake and build the example:

cd build
 
# Linux and MacOS
cmake ..
make
 
# Windows
cmake --build . --config Release

From terminal 1:

# Linux and MacOS
./publisher_custom_msg
 
# Windows
.\Release\publisher_custom_msg.exe

From terminal 2:

# Linux and MacOS
./subscriber_custom_msg
 
# Windows
.\Release\subscriber_custom_msg.exe

Topic remapping

It's possible to set some global node options that will affect both publishers and subscribers. One of these options is topic remapping. A topic remap consists of a pair of topic names. The first name is the original topic name to be replaced. The second name is the new topic name to use instead. As an example, imagine that you recorded a collection of messages published over topic /foo. Maybe in the future, you want to play back the log file but remapping the topic /foo to /bar. This way, all messages will be published over the /bar topic without having to modify the publisher and create a new log.

We can declare the topic remapping option using the following code:

// Create a transport node and remap a topic.
gz::transport::NodeOptions nodeOptions;
nodeOptions.AddTopicRemap("/foo", "/bar");
gz::transport::Node node(nodeOptions);
std::string topic = "/foo";

You can modify any of the publisher examples to add this option.

From terminal 1:

# Linux and MacOS
./publisher
 
# Windows
.\Release\publisher.exe

From terminal 2 (requires Gazebo Tools):

gz topic --echo -t /bar

And you should receive all the messages coming in terminal 2.

The command gz log playback also supports the notion of topic remapping. Run gz log playback -h in your terminal for further details (requires Gazebo Tools).