Number of TCP connections for a "bidirectional" topic?
Hi all,
I have a (possibly) simple question: assume if I have two nodes A, B that communicate over a topic "/my_topic", i.e., both nodes subscribe and publish to "/my_topic" using TCPROS. How many TCP connections are being created for this? (I am asking because I am concerned with race conditions in my parallel system of many ROS nodes, most probably due to messages being sent to a topic but the intended receiver(s) is/are not already connected.)
According to the ROS 1: Technical Overview, I would assume that there are two TCP connections, one for the publisher on node A and one for B (although and unfortunately, one would be enough).
In other words: in theory, it would be sufficient to just have ONE TCP connection which is used in both directions. In that the case here?
Is that correct?
Thank you so much! :-)
