1 #include <bondcpp/bond.h>
   2 
   3 std::string id = generateUniqueId();
   4 // Sends id to B using a service or action
   5 bond::Bond bond("example_bond_topic", id);
   6 bond.start();
   7 if (!bond.waitUntilFormed(ros::Duration(1.0)))
   8 {
   9     ROS_ERROR("ERROR!");
  10     return false;
  11 }
  12 // ... do things with B ...
  13 bond.waitUntilBroken();
  14 printf("B has broken the bond\n");

   1 #include <bondcpp/bond.h>
   2 
   3 // Receives id from A using a service or action
   4 bond::Bond bond("example_bond_topic", id);
   5 bond.start();
   6 // ... do things ...
   7 bond.breakBond();