Rosland:

Morten Kjaergaard and I have been working hard on refactoring some core ROS
code and build system mechanisms with the goal of facilitating use of ROS
messages outside the context of ROS nodes and the ROS build system.  Please
see

  https://github.com/ros/ros-message-user-examples

(check the README) for a first prototype, which multicasts
geometry_msgs::Pose objects
in 100 lines of C++ that compiles to a 220k binary.
The integration with boost::asio is passable, but the interface could use
some modernizing.

-t