> ## Documentation Index
> Fetch the complete documentation index at: https://scaledfoundations-rebrand.mintlify.site/llms.txt
> Use this file to discover all available pages before exploring further.
# Base Client
## ROSClient
Inherits from: `ABC`
Base class for ROS clients that handles communication with ROS topics.
ROS message type for the topic
Most recent message received
ROS client instance
Associated agent instance
### ROSClient
```python
ROSClient(host, port, client_dict, agent_dict)
```
Initialize the ROS client.
defaults to 'localhost'.
Hostname of ROS bridge. Defaults to 'localhost'.
defaults to 8080.
Port number. Defaults to 8080.
defaults to None.
Dictionary of client configuration parameters. Defaults to None.
defaults to None.
Dictionary containing agent instance. Defaults to None.
### getLatestMessage
```python
ROSClient.getLatestMessage()
```
Helper method to get the latest message.
The most recent message received from the ROS topic.
### process\_latest\_msg
```python
ROSClient.process_latest_msg()
```
### msg\_cb
```python
ROSClient.msg_cb(msg)
```
### run
```python
ROSClient.run()
```
### get\_messages
```python
ROSClient.get_messages()
```
Get all messages from the client.
List of messages received by the client.
### stop
```python
ROSClient.stop()
```