ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
Yes, rospy.Publisher() is thread safe.
Before publishing a message it acquires a lock for thread safety and releases it after the message is sent.
You can see the source code here: http://docs.ros.org/api/rospy/html/rospy.topics-pysrc.html#Publisher.publish