ROS is a protocol built on top of XMLRPC and transport layers which currently use either TCP or UDP.  If you wanted to reimplement the topic portion of roscpp you could, but it&#39;s a lot more than just creating a socket connection.<br>

<br>Josh<br><br><div class="gmail_quote">2010/6/17  <span dir="ltr">&lt;<a href="mailto:ros_user@yahoo.co.jp">ros_user@yahoo.co.jp</a>&gt;</span><br><blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">

Hello all,<br>
<br>
I am new comer in ROS.<br>
<br>
I just finished the tutorial and made Publisher and Subscriber node.<br>
<br>
Here is a question.<br>
<br>
Can I subscribe messages from normal C++ code without ROS?<br>
For instance, I want to subscribe &quot;chatter&quot; topic in the tutorial with normal socket connection (without ROS subscribe method).<br>
<br>
If possible, how can I do it?<br>
<br>
Any information is welcome.<br>
<br>
Thanks in advance.<br>
<br>
Keisuke<br><div class="hm">

<div style="line-height: 0pt; width: 0pt; min-height: 5px; clear: both;"> </div>
<p> 

</p><hr size="1"><a href="http://pr.mail.yahoo.co.jp/southafrica2010/" target="_blank">2010 FIFA World Cup News [Yahoo!Sports/sportsnavi]</a><br>
</div><br>_______________________________________________<br>
ros-users mailing list<br>
<a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a><br>
<a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
<br></blockquote></div><br>