Hi guys, i am just releasing SimpleDDS. In order to connect into ROS world i had to implement a DDS support (Publisher/subscriber). For achieving this i did MetaDDS, a library that defines basic objects, announcements, event related mechanisms and data encoding formats, and on top of it SimpleDDS, which is ROS based. SimpleDDS Has a package of examples highly commented for learning how to use it. The comments are also in the Github wiki, as wiki pages: https://github.com/sbragagnolo/SimpleDDS/wiki Gofer it smalltalkhubUser: 'sbragagnolo' project: 'SimpleDDS'; configuration; loadVersion: #stable Here some links about http://en.wikipedia.org/wiki/Publish%E2%80%93subscribe_pattern http://en.wikipedia.org/wiki/Data_Distribution_Service Thats it. Enjoy. Santiago