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Why ros2 std_msgs/Header removes `seq`?

asked 2023-08-07 10:07:17 -0500

felixf4xu
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Hi,

I'm upgrading a ros1 package to ros2 and found that std_msgs/Header msg has changed.

in ros1: https://github.com/ros/std_msgs/blob/...

# sequence ID: consecutively increasing ID 
uint32 seq

while in ros2: https://github.com/ros2/common_interf...

seq is removed. Why?

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answered 2023-08-07 18:31:59 -0500

Bernd Pfrommer
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According to this document: "The field has been deprecated for a long time and was not set consistently in ROS 1." In many cases the subscribers would ignore the sequence number, so it made sense to remove it to reduce overhead. Note that this header is shared across a large variety of messages, so removal does have an impact.

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Asked: 2023-08-07 10:07:17 -0500

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Last updated: Aug 07 '23

Why ros2 std_msgs/Header removes `seq`? edit

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Why ros2 std_msgs/Header removes `seq`?