question on one-to-many communication using rosservice
As known from the ROS documentation, message/topic is used for multi-to-multi but one-way communication, while service is recommended in case of request/reply. I suppose ros service is mainly used for one-to-one two-way transport. Then is ros service also suitable for one-to-many communication?
With a simple test program (adapted from the ros service server/client example program in tutorial), I observed that it's no problem for a single ros server to accept multiple client requests from different computers.
Then I can't help wondering that if certain variables/resources on the server side need be processed as response to client request, will a mutex be enough to make sure the shared resources can be properly handled. How does ros service handle requests in the bottom level, like queue?
thanks for the hints/advices in advance.
clark
