How to cleanly reset a ros application involving a number of subscribers and publishers
I have a ros application that involves a number of iteration where at each iteration the application is reset. At each reset a number of subscribers and publishers are made again. However, I have noticed that the previous subscribers still exist and would invoke the same callback function for as many iterations that have been proceeded. This is not what I want and want to rather have a similar setup at each iteration where the callback function is called only once per a published message.
I have solved this by unregistering the previous subscribers at every reset.
However, now I am suspicious about the following cases:
1_Could there be a similar scenario about my publishers? for example since my publishers are latched, I wonder if at every reset when I make the same publishers again, equal to the number of iterations these publishers submit their last message to the subscriber.(is there also also a way to unregister or kill the publishers?
2_On another hand, from computational point of view, even after unregistering the subscribers at every reset and making new subscribers, I wonder if the threads of the previous subscribers still exist and may slow down the application after a couple of million iterations.(similar wonder also about publisher).
Is there a way to cleanly reset such ros application's subscribers and publishes at every iteration without having remaining traces that may slow down or interrupt further iterations?
