Publishers & Subscribers : queue_size, blocking, synchronous/asynchronous

asked 2022-02-22 03:46:39 -0500

electrophod gravatar image

updated 2022-02-22 03:47:06 -0500

I've been working with ROS for quite a long time and now I feel that I am somewhere between the valley of despair and sole of enlightenment portions of the Dunning-Kruger effect curve.

I have some basic doubts about publishers, subscribers, and their internal working.

1) Can someone give a brief overview of the low-level working of publishers and subscribers? I want to know how to messages flow through queues, buffers, etc., and the serialization process. What exactly do all these terms mean?

2) I know what do the terms synchronous and asynchronous mean, but I want to know them in the terms of publishers and subscribers. Are publishers and subscribers sync/async or are their callback functions and publish() methods syn/async?

3) I want to understand the queue_size parameter in detail. I'm more bothered to know what exactly it is rather than what should be a good way to choose its value.

I would be really thankful to the community to help me and others understand these basic concepts via this post.


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Why did you post a duplicate and why did you delete #q396293?

gvdhoorn gravatar image gvdhoorn  ( 2022-02-22 05:16:58 -0500 )edit

@gvdhoom I deleted it because I posted the same question again by mistake. It's draft had been lying around in text case to ask question.

electrophod gravatar image electrophod  ( 2022-02-22 05:22:33 -0500 )edit