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Publishing and subscribing to a topic in different threads

asked 2012-09-08 14:17:40 -0500

Nishant gravatar image

Hi all!

I was just curious about this, before I actually sit for coding.

Suppose I have a thread in which I am publishing to a topic. Then, can I subscribe to that same topic from some different thread?

I am really sorry if this question is too trivial. I just don't want to end up writing code for nothing :)

All help is appreciated!

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answered 2012-09-08 16:34:37 -0500

jbohren gravatar image

Yes, you can do this.

In fact, if you're in c++, if you use the shared_ptr signatures in your code, you will even skip the serialization/deserialization step.

Do note, however, that by default roscpp only uses a single thread if you use ros::spin() or ros::spinOnce().

For more info on roscpp threading models and how to use multiple threads with roscpp, see here.

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Asked: 2012-09-08 14:17:40 -0500

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Last updated: Sep 08 '12