The PSSC (Publish/Subscribe and Service/Call protocol) is a data-oriented multi-process protocol. It is designed for small robot development.
REGISTER
REGACK
SUBSCRIBE
SUBACK
UNSUBSCRIBE
UNSUBACK
PUBLISH
ADDVERTISE_SERVICE
ADVSRVACK
CLOSE_SERVICE
CLOSESRVACK
SERVICE_CALL
SERVICE_RESPONSE
QUERY_SUBSCRIBER_NUMBER
QUERY_SUBSCRIBER_NUMBER_ACK