RTPS Core

The RTPS (Real-Time Publish-Subscribe) layer implements the wire protocol.

Components

  • SPDP: Simple Participant Discovery Protocol
  • SEDP: Simple Endpoint Discovery Protocol
  • ReliabilityManager: HEARTBEAT/ACKNACK protocol
  • Transport: UDP/IPv4 communication

Headers

  • <astutedds/rtps/rtps_types.hpp>
  • <astutedds/rtps/participant.hpp>
  • <astutedds/rtps/writer.hpp>
  • <astutedds/rtps/reader.hpp>

For most applications, use the DCPS API instead of directly accessing RTPS.