Hmm, I see in the source that there is a static bridge that I guess one could compile specifically for a topic that needs immediate passing on publishing. In the mean time, I'll dig through dynamic bridge to find out if it is multi-threaded and how threads are allocated if it is. --- [Visit Topic](https://discourse.ros.org/t/ros1-ros2-bridge-design-and-performance/1507/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: