ROSのトピック通信のPython版サンプルです。 クラス構造で記述しています。
- 非同期通信
- 1対多
- パブリッシャ→トピック→サブスクライバ(複数OK)
例えるなら、データ=動画で、動画投稿者→Youtube→視聴者(複数人):投稿時間≠視聴時間→非同期 - サブスクライバが受け取る前にトピック上のデータが上書きされ、上書きされたデータが送られた場合、前のデータは実質なかったものになる→データの確実なやりとりが保証されていない
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