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is rospy.Publisher.publish() thread safe?

asked 2017-03-17 02:40:38 -0500

dyan
7 ●5 ●6 ●7

Want to publish() in main and also in child thread on one rospy.Publisher(),is this safe?

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answered 2017-03-17 03:23:24 -0500

Martin Peris
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Yes, rospy.Publisher() is thread safe.

Before publishing a message it acquires a lock for thread safety and releases it after the message is sent.

You can see the source code here: http://docs.ros.org/api/rospy/html/ro...

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Asked: 2017-03-17 02:40:38 -0500

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Last updated: Mar 17 '17

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