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copied!<p>You should use an actual ROS message instead of a custom class for data that you'd like to publish/subscribe to. See <a href="http://wiki.ros.org/ROS/Tutorials/CreatingMsgAndSrv" rel="nofollow">http://wiki.ros.org/ROS/Tutorials/CreatingMsgAndSrv</a> for how to create a new message that you can then use when publishing data. Using a ROS message also means that existing ROS tools such as <code>rostopic</code> and entire language bindings such as <code>rospy</code> for Python or <code>rosjava</code> for Java will be able to easily interoperate with your C++ node.</p> <p>For this particular case, you can simply use the standard ROS message for a 3D point, <a href="http://docs.ros.org/api/geometry_msgs/html/msg/Point.html" rel="nofollow">geometry_msgs/Point</a>. You can find a fairly comprehensive list of the standardized messages in the <a href="http://wiki.ros.org/common_msgs?distro=hydro" rel="nofollow">common_msgs</a> documentation. Using a standardized message has a number of benefits over creating your own message with essentially the same content - the biggest is that there are many tools or other pieces of software in the ROS ecosystem that you may want to take advantage of later, which will be a fairly painless process if you are already using standarized message types.</p> <p>If you really have a need to use your custom Position class (without simply converting it to a ROS message), you can look at the <a href="http://wiki.ros.org/roscpp/Overview/MessagesSerializationAndAdaptingTypes" rel="nofollow">roscpp serialization</a> documentation. I would <em>strongly</em> suggest against serializing your custom class instead of using either an actual ROS message that you create or a standardized message.</p>

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