Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

How to handle unreliable connection with rospy?

asked 2014-05-09 03:18:54 -0600

gudjon
111 ●2 ●7 ●7

Im running ROS on a AUV that connects wirelessly to a pilot computer. The AUV runs roscore and the pilot computer runs a few nodes to send commands and display its state. When the AUV loses connection everything stops working. If I kill all nodes on the pilot computer before the connection is lost it works fine so Im guessing this is because it gets stuck trying to publish to the pilot computer.

Is there a way to gracefully handle a lost connection between nodes using rospy?

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2014-05-09 06:40:03 -0600

ahendrix

47576 ●179 ●367 ●662 http://namniart.com/

By default, rospy publishers are blocking, and a blocking publish call won't return until the underlying TCP socket succeeds or times out. You can change this by specifying the queue size to the rospy publisher.

The original bug report for this is ros_comm #169 and the fix is released into Hydro and later releases.

edit flag offensive delete link

Comments

Thanks, adding queue_size=1 seams to fix my problem in most cases. I'm still having problems with one node that uses action lib but I think I can work around that.

gudjon ( 2014-05-14 11:46:08 -0600 )edit

If the rospy implementation of actionlib doesn't support setting the queue size yet, you should probably open a bug letting them know about it.

ahendrix ( 2014-05-14 11:54:33 -0600 )edit

add a comment

Question Tools

1 follower

Stats

Asked: 2014-05-09 03:18:54 -0600

Seen: 236 times

Last updated: May 09 '14

How to handle unreliable connection with rospy? edit

1 Answer

Comments

Question Tools

Stats

Related questions

How to handle unreliable connection with rospy?