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## Reading from the robot
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Data from the robot can be captured by the *Listener* which is a *Thread* child class. And probes that have been enabled will have their data sent by the server to the client on every broadcast interval. The base client class will read that data in and add it to a message queue, unless it is a debug message or a probe message. probe messages are added to a buffer and can be read out at a later stage. In the **hv_client** the probe messages are pushed to the data storage objects in the corresponding `Reader` classes that will the publish the data to ROS topics. |
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Data from the robot can be captured by the *Listener* which is a *Thread* child class. And probes that have been enabled will have their data sent by the server to the client on every broadcast interval. The base client class will read that data in and add it to a message queue, unless it is a debug message or a probe message. probe messages are added to a buffer and can be read out at a later stage. In the **hv_client** the probe messages are pushed to the data storage objects in the corresponding [Reader](reader) classes that will the publish the data to ROS topics. |
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