Hi, I played around some more with the rtt_ros_integration_example. To check the behavior on my non-hard RT system with high execution speeds I set the periodic activity to a 10 kHz update rate. Barring that doing that is not making much sense, I basically nondeterministically get the following errors for the outports after some (short) time: [ ERROR ][Logger] A channel of port float_out has been invalidated during write(), it will be removed Complete Info with gdb Backtrace: Deployer [S]> 5.502 [ ERROR ][Logger] A channel of port float_out has been invalidated during write(), it will be removed Program received signal SIGSEGV, Segmentation fault. [Switching to Thread 0x7fffd9ca1710 (LWP 31603)] 0x00007fffdca76e9f in ros_integration::RosPubChannelElement > >::publish (this=0x7fffe80520a0) at /home/stefan/rosext/orocos_toolchain_ros/rtt_ros_integration/src/ros_msg_transporter.hpp:100 100 if( input->read(sample) == NewData ) (gdb) bt #0 0x00007fffdca76e9f in ros_integration::RosPubChannelElement > >::publish (this=0x7fffe80520a0) at /home/stefan/rosext/orocos_toolchain_ros/rtt_ros_integration/src/ros_msg_transporter.hpp:100 #1 0x00007fffe6dcca67 in ros_integration::RosPublishActivity::loop (this=0x7fffe8052be0) at /home/stefan/rosext/orocos_toolchain_ros/rtt_ros_integration/src/ros_publish_activity.hpp:39 #2 0x00007ffff72e98ab in RTT::os::thread_function (t=) at /home/stefan/rosext/orocos_toolchain_ros/rtt/build/orocos-toolchain-rtt/rtt/os/Thread.cpp:182 #3 0x00007ffff66869ca in start_thread (arg=) at pthread_create.c:300 #4 0x00007ffff4b2d6fd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112 #5 0x0000000000000000 in ?? () I don't have a hard-RT system available for testing right now, but I'd expect "best effort" publishing together with a warning when using the ROS transport and not completely switching off the Outport. Is this known/intended behavior? regards, Stefan