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Q1. I am aware that subscriber and processor run on separate thread and spin thread handles callbacks. However my doubt is if there are more that 2 subscribers, do all subscribers run on single subscriber thread or 2 subscriber thread ?
Q2. Do Ros Actions and Server run on the spin thread or do they run on their separate thread ?
By default, there is only one global CallbackQueue and all callbacks are executed on the same main thread where you call ros::spin() or ros::spinOnce(). If you want to run callbacks in parallel, you should use ros::MultiThreadedSpinner or ros::AsyncSpinner instead of ros::spin() or ros::spinOnce(). You can also create multiple CallbackQueue and spin them separately. Please read the related guide: http://wiki.ros.org/roscpp/Overview/C...
Asked: 2022-07-11 00:39:12 -0600
Seen: 86 times
Last updated: Jul 11 '22
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