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In addition to what @gvdhoorn already stated I'd like to mention that if using TCPROS you can safely assume that messages received are transmitted correctly, unique (meaning for a single publish() the subscriber callback won't be called twice) and that for a single publisher/single subscriber connection you can safely assume that you will receive them in the same order as published; its stated here: http://answers.ros.org/question/46713/order-of-publishedsubscribed-messages/ ....; Note that message loss (due to limited bandwidth or long running subscriber callbacks) is still possible.