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Guaranteed message delivery

Hello,

It seems ROS makes no guarantee of message delivery. I know some can be lost at the beginning (nodes haven't fully started up) but of course they can also be dropped later. It is the dropping messages later that I am concerned about.

I have seen rosbags suggested at the way to get guaranteed message delivery (maybe minus the node start up situation, which I'm not worried about). It seems they are used for capturing/replaying messages and are not thread-safe.

Has anyone used them for receiving messages in real-time? Is there another way to go?

I know queue sizes/publishing rates are adjustable and this can minimize loss, but there are certain messages I can't afford to drop, even occassionally. And I am losing some.

Thanks.