（訳注：最新の情報は原文を参照してください．）

Tutorials

Please refer to the roscpp チュートリアル package

Usage Docs

For usage documentation and more in-depth treatment than the tutorials, please see the roscpp overview

API Reference

For a detailed API reference, please consult the code API documentation

Compile options

• Preprocessor definition ROSCPP_USE_TCP_NODELAY

  • Set this to disable Nagle's algorithm (allows much lower-latency sending of data at the expense of bandwidth): http://en.wikipedia.org/wiki/Nagle%27s_algorithm

  • Note that this is also now available at runtime using ros::TransportHints