Are rmw_serialize() and rmw_deserialize() thread-safe functions

asked 2020-06-09 22:34:13 -0600

shuodo gravatar image

Hi,

Are rmw_serialize() and rmw_deserialize() thread-safe functions?

In its API reference, it doesn't mention about thread-safe:

http://docs.ros2.org/crystal/api/rmw/...

Also, in serialization class function of rclcpp (foxy), it doesn't use any lock/mutex. So can I assume they are thread safe?

https://github.com/ros2/rclcpp/blob/f...

In the test code, the caller also doesn't use any lock/mutex:

https://github.com/ros2/rclcpp/blob/f...

Best regards,

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