Library features

Client library requirements

https://wiki.ros.org/Implementing%20Client%20Libraries

name	status
implement the slave side of the master/slave API	✔️
handle node-to-node transport negotiation and connection setup	✔️
handle transport-specific serialization and deserialization of messages	✔️
parse command-line Remapping Arguments	✔️
Subscribe to a simulated Clock	✔️
publish debugging messages to rosout	✔️
object representation of message types	✔️
event loop for connection servicing	✔️
user callback invocation on message receipt	✔️

Protocols

name	status
xml-rpc	✔️
TCPROS	✔️
UDPROS	✔️

Master API

https://wiki.ros.org/ROS/Master_API

method	client
registerService	✔️
unregisterService	✔️
registerSubscriber	✔️
unregisterSubscriber	✔️
registerPublisher	✔️
unregisterPublisher	✔️
lookupNode	✔️
getPublishedTopics	✔️
getTopicTypes	✔️
getSystemState	✔️
getUri	✔️
lookupService	✔️

Parameter Server API

https://wiki.ros.org/ROS/Parameter%20Server%20API

method	client
deleteParam	✔️
setParam	✔️
getParam	✔️
searchParam	✔️
subscribeParam
unsubscribeParam
hasParam	✔️
getParamNames	✔️

Slave API

https://wiki.ros.org/ROS/Slave_API

method	client	server
getBusStats
getBusInfo	✔️	✔️
getMasterUri
shutdown	✔️	✔️
getPid	✔️	✔️
getSubscriptions
getPublications	✔️	✔️
paramUpdate
publisherUpdate	✔️	✔️
requestTopic	✔️	✔️