RTI Connext Modern C++ API  Version 7.0.0

The unmodified publication example generated by rtiddsgen using the C++11 option for the -language flag.

See also
Publication Example
* (c) Copyright, Real-Time Innovations, 2020. All rights reserved.
* RTI grants Licensee a license to use, modify, compile, and create derivative
* works of the software solely for use with RTI Connext DDS. Licensee may
* redistribute copies of the software provided that all such copies are subject
* to this license. The software is provided "as is", with no warranty of any
* type, including any warranty for fitness for any purpose. RTI is under no
* obligation to maintain or support the software. RTI shall not be liable for
* any incidental or consequential damages arising out of the use or inability
* to use the software.
#include <iostream>
#include <dds/pub/ddspub.hpp>
#include <rti/util/util.hpp> // for sleep()
#include <rti/config/Logger.hpp> // for logging
// alternatively, to include all the standard APIs:
// <dds/dds.hpp>
// or to include both the standard APIs and extensions:
// <rti/rti.hpp>
// For more information about the headers and namespaces, see:
// https://community.rti.com/static/documentation/connext-dds/7.0.0/doc/api/connext_dds/api_cpp2/group__DDSNamespaceModule.html
// For information on how to use extensions, see:
// https://community.rti.com/static/documentation/connext-dds/7.0.0/doc/api/connext_dds/api_cpp2/group__DDSCpp2Conventions.html
#include "application.hpp" // for command line parsing and ctrl-c
#include "Foo.hpp"
void run_publisher_application(unsigned int domain_id, unsigned int sample_count)
// DDS objects behave like shared pointers or value types
// (see https://community.rti.com/best-practices/use-modern-c-types-correctly)
// Start communicating in a domain, usually one participant per application
dds::domain::DomainParticipant participant(domain_id);
// Create a Topic with a name and a datatype
dds::topic::Topic<MyOtherType> topic(participant, "Example MyOtherType");
// Create a Publisher
dds::pub::Publisher publisher(participant);
// Create a DataWriter with default QoS
dds::pub::DataWriter<MyOtherType> writer(publisher, topic);
MyOtherType data;
// Main loop, write data
for (unsigned int samples_written = 0;
!application::shutdown_requested && samples_written < sample_count;
samples_written++) {
// Modify the data to be written here
std::cout << "Writing MyOtherType, count " << samples_written << std::endl;
// Send once every second
int main(int argc, char *argv[])
using namespace application;
// Parse arguments and handle control-C
auto arguments = parse_arguments(argc, argv);
if (arguments.parse_result == ParseReturn::exit) {
} else if (arguments.parse_result == ParseReturn::failure) {
// Sets Connext verbosity to help debugging
try {
run_publisher_application(arguments.domain_id, arguments.sample_count);
} catch (const std::exception& ex) {
// This will catch DDS exceptions
std::cerr << "Exception in run_publisher_application(): " << ex.what()
<< std::endl;
// Releases the memory used by the participant factory. Optional at
// application exit