uORB with multiple subscribers for the same topic

1

Hi,

is there any mechanism to guarantee that all the subscribers of a topic actually receive the data when this topic is published?

More precisely:
orb_publish results in the execution of DeviceNode::publish which writes the data to a file-descriptor.
Subscribers use orb_check or px4_poll to check if data is available.
If Sub_A is faster than Sub_B and consumes the incoming data (using orb_copy) Sub_B starves. Where is the distribution of data among all subscribers implemented?

Thanks

2

Hi.
Did you figure out how this works? I have this very same question.
Besides, what will happen if the publisher is faster than the subscribers? For example, if Pub_A publishes 5 messages/sec and the only subscriber Sub_A checks the uorb topic only once each second, what would happen?