> ## Documentation Index
> Fetch the complete documentation index at: https://docs.roboticks.io/llms.txt
> Use this file to discover all available pages before exploring further.

# Messaging

> Roboticks does not wrap ROS2 messaging. The SDK ships assertion helpers that operate over rclpy and rclcpp. See the assertions page.

# Messaging

ROS2 messaging is owned by `rclpy` and `rclcpp`. The Roboticks SDK does **not** wrap, mirror, or replace them — your tests publish and subscribe with the same APIs you've always used.

What the SDK does ship is a set of **assertion helpers** that operate over rclpy / rclcpp: wait for a topic to publish, send a service request and assert on the response, dispatch an action goal and wait for its result. See [Assertions](/sdk/assertions) for the full reference.

If you're looking for messaging configuration, QoS profiles, or topic-naming conventions, those are ROS2 concerns — the ROS2 documentation owns them. Roboticks integrates with whatever shape your nodes produce.