Resolved Publishing and Subscribing not possible at the same time

Hi there,

my ROS connection works fine when I just subscribe or publish data. When I try both with the same ROSConnection component I do not receive the published data anymore.
Another weird thing is that if I restart my game multiple times (without changing anything) I receive different logs in the ros_tcp_endpoint running in a docker.



Have you made the same experience and how to fix that?

Side questions:

• Do I always get an error when I close my game (I already use the disconnect command)?
• How to unsubscribe from a topic (warning "publisher already registered")

 

For answering the general questions @LaurieUnity or @amanda-unity could you please help?

 

Edit:
I spend the last day again with debugging and find the following workaround:

• I got it running by changing the interface script to a MonoBehaviour.
• Then a "topic is not registered" error showed up, so I added a Thread.Sleep after the registration

Thanks for answering the common questions @LaurieUnity
_____________________________________________________

The first reply was:

Thanks for your response.

• My sensors are running as MonoBehaviour on GameObjects
• To make the sensor interface exchangeable (ROS2, TCP, HTTP request, etc.) it is running in a separate thread.
• The sensors and the interfaces are controlled by an SensorBase class, to control all sensors and interfaces the same way.
• To test the ROS connection I use a ROS wrapper which just call the according ROSConnection method

In the ROS thread first the topic is registered and after that the sensor data is send in a while loop when there is new data available. Here is a part of the sending thread:

Code (CSharp):

1.           this.rosWrap.GetOrCreateInstance();
2.             this.rosWrap.RegisterPublisher<LaserScanMsg>(topic);
3.  
4.  
5.             while (isRunning)
6.             {
7.                 try
8.                 {
9.                     scanMsg = sensor.GetLatestData();
10.                     rosMsg = new LaserScanMsg(
11.                     //fill the rosMsg with my own scanMsg
12.                     );            
13.                     this.rosWrap.Publish(topic, rosMsg);
14.                 }
15.                 catch
16.                 {
17.                     Debug.Log(string.Format(Logs.ros2_closedError, Logs.ros2_lidarThread, topic));
18.                     isRunning = false;
19.                 }
20.  
21.  
22.                 //reset event to wait for next laser rotation
23.                 resetEvent.WaitOne();
24.                 resetEvent.Reset();
25.             }
26.         }