1. API Reference

This section provides the eProsima DDS Enabler C++ API reference. eProsima DDS Enabler is a modular middleware solution enabling seamless integration between distributed systems by building on top of the DDS standard. It allows developers to create scalable, reliable, and real-time communication infrastructures with minimal effort.

As part of the ARISE project, DDS Enabler facilitates OT/IT convergence by bridging robotic (ROS 2) and NGSI-LD context brokers, enabling a unified communication framework for industrial environments. Its foundation on Fast DDS guarantees low-latency, high-performance capabilities suitable for critical human-robot interaction (HRI) scenarios.

The following pages document the classes, functions, and types exposed by DDS Enabler:

• 1.1. DDS Enabler
  • eprosima::ddsenabler::DDSEnabler
    • DDSEnabler()
    • set_file_watcher()
    • reload_configuration()
    • publish()
    • announce_service()
    • revoke_service()
    • send_service_request()
    • send_service_reply()
    • announce_action()
    • revoke_action()
    • send_action_feedback()
    • send_action_result()
    • send_action_cancel_goal_reply()
    • update_action_status()
    • send_action_goal()
    • cancel_action_goal()
• 1.2. Callback Set
  • eprosima::ddsenabler::CallbackSet
    • log
    • dds
    • service
    • action
• 1.3. DDS Callbacks
  • eprosima::ddsenabler::DdsCallbacks
    • type_notification
    • topic_notification
    • data_notification
    • type_query
    • topic_query
• 1.4. Service Callbacks
  • eprosima::ddsenabler::ServiceCallbacks
    • service_notification
    • service_request_notification
    • service_reply_notification
    • service_query
• 1.5. Action Callbacks
  • eprosima::ddsenabler::ActionCallbacks
    • action_notification
    • action_goal_request_notification
    • action_feedback_notification
    • action_cancel_request_notification
    • action_result_notification
    • action_status_notification
    • action_query
• 1.6. Callbacks
  • eprosima::ddsenabler::participants
    • DdsLogFunc
    • DdsTypeNotification
    • DdsTopicNotification
    • DdsDataNotification
    • DdsTypeQuery
    • DdsTopicQuery
    • ServiceNotification
    • ServiceRequestNotification
    • ServiceReplyNotification
    • ServiceQuery
    • ActionNotification
    • ActionGoalRequestNotification
    • ActionCancelRequestNotification
    • ActionFeedbackNotification
    • ActionStatusNotification
    • ActionResultNotification
    • ActionQuery
    • eprosima::ddsenabler::participants::TopicInfo
    • eprosima::ddsenabler::participants::ServiceInfo
    • eprosima::ddsenabler::participants::ActionInfo