Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version
  1. No, Services communicate by their own protocol. However the related actionlib uses messages, although I wouldn't think of it that way for application purposes.

  2. No, Any number of nodes can subscribe or publish to the same topic. In that case each subscriber gets messages from each publisher.

  3. A service connected is node-to-node only for a single request.

For the last point: Given that service calls are blocking, you'll need to use a multi-threaded approach.