rmw  master
C API providing a middleware abstraction layer which is used to implement the rest of ROS.
rmw: ROS Middleware Abstraction Interface

rmw defines an interface of middleware primitives that are used by the higher level ROS API's. It consists of these main components:

There are some common utility functions in combination with "Topics" or "Services":

It also has some machinery that is necessary to wait on and act on these concepts:

Further still there are some useful abstractions and utilities: