threading-model

A repo to test the threading model in ros. The files are taken from the answer here.

C++

* rosrun threading_model cpp_publisher_node A
* rosrun threading_model cpp_publisher_node B

* rosrun threading_model cpp_subscriber_node C
* rosrun threading_model cpp_subscriber_node D

Python

* rosrun threading_model python_publisher_node A
* rosrun threading_model python_publisher_node B

* rosrun threading_model python_subscriber_node C
* rosrun threading_model python_subscriber_node D

results

If node A & B publish to the same topic and C listens,

• in python there are two threads for the messages of A & B
• in C++ there is only one thread per subscriber, so node C is running on one single thread listening to both messages of A & B. If you create a node D that also listens to this topic, then you get a new thread.