Revision history [back]

Please use the search: subscribing takes time. Setting up connections between publishers and subscribers takes time. If you don't allow for this setup, published msgs are lost (ie: no one is listening).

If you don't want to lose any messages, then bare publish-subscribe in ROS 1 is not what you should use. Services or actions might be more suitable.

Alternatively: consider using ros::Publisher::getNumSubscribers() and waiting for at least a single subscriber before publishing anything.