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ros2 topic pub creates two publishers

See original GitHub issue

As mentioned here the QOS event callback triggers a call to rmw_create_publisher twice for the same topic on the same node. Where this might be supported for DDS implementations, it might lead to UB for non-DDS RMWs, c.f. https://github.com/ros2/rmw_iceoryx/issues/28

Is there a way to create a create incompatible QoS with creating only one publisher?

Issue Analytics

State:
Created 3 years ago
Comments:17 (17 by maintainers)

Top GitHub Comments

2reactions

ivanpaunocommented, Apr 29, 2020

Reverting #410 sounds good to me.

If the creation of the publisher failed, it should be automatically cleaned up, and the user shouldn’t need to do that manually. It’s worth investigating why it wasn’t cleaned up correctly and fixing it too.

1reaction

Karsten1987commented, May 1, 2020

@mm318 I can confirm that https://github.com/ros2/rclpy/pull/553 solves the problem.

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