>
>
>
> > Multi-threading is tricky in this driver, see the comments in
> > Camera1394Driver::poll(). I am wondering if we could just call the
> > updater there in the poll() thread, instead of creating another
> > thread. Is there any large overhead in calling the updater?
>
> The updater is publishing in /diagnostics at a fixed rate so no it is
> probably
> not that time consumming. However, it is still a shame to slow down the
> whole node.
>

Publishing won't slow down the node besides the effort to build the
message(and one memcopy if you don't use a boost_shared pointer).  When you
call publish, the actual network activity will be handled by the ROS
thread.

Tully