BTW, I'm not sure that rclcpp::Rate spins while it sleeps. It hasn't in times gone by. Generally, you will break things in ROS2 if you sleep instead of spin; your buffers will overflow, etc. We usually use the timeouts on the spin methods instead. --- [Visit Topic](https://discourse.ros.org/t/issues-about-migration-guide/3493/2) 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: