ROS进二阶学习笔记(10) -- rospy.Publisher() 之 queue_size

ROS进二阶学习笔记(10) -- rospy.Publisher() 之 queue_size

ref  link

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queue_size: publish() behavior and queuing

publish() in rospy is synchronous by default (for backward compatibility reasons) which means that the invocation is blocking until:

  • the messages has been serialized into a buffer
  • and that buffer has been written to the transport of every current subscriber

If any of the connections has connectivity problems that might lead to publish() blocking for an indefinite amount of time. This is a common problem when subscribing to topics via a wireless connection.

(sonictl: publish() 在rospy 里是同步进行的,为了向老版兼容。这就意味着对消息的调用会出现阻塞。直到:
      >> message 序列性地进入 buffer
      >> 并且buffer 已

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