[ROS Communication] Multiple sockets and ports
Hello,
I would like to confirm this:
- Suppose that there is one publisher. Therefore, it opens a socket. There, any subscriber can connect to the same socket but on different ports, right?
- Let's say there is now a second publisher. So, it will open a new socket and any subscriber can connect to it, also if there are multiple, over different ports.
Is that correct? Thank you very much.
Update:
Just to confirm if I understood correctly. Let's say I have a publisher, a subscriber and ros master all running on 3 different computers. From the publisher perspective, it will need one socket to communicate with the master via xmlrpc, and two sockets per subscriber, one for the negotiation part with xmlrpc (to receive requestTopic) and a third one to actually send data to the subscriber. Is that correct?
If it is, then the publisher will need two extra sockets if a second subscriber comes, right?
Thanks