I am trying to get a publisher/subscriber connection working within my own ros pkg and I am having issues.  I am able to get the talker/listener tutorial working but what I am doing is slightly different.<br><br>I have an ros program that sets up a TCP socket and waits for a connection.  When the user sends the appropriate command on that socket, I want it to publish a message and that message is redirected to the other program.  Right now, everything starts using a launch file and when it starts, the publisher shows that there are 0 subscribers and the subscriber shows that there are 0 publishers.<br>
<br>Are there any special timing conditions that I need to take into account?  Is there anything else that I should look at?<br><br>Thanks,<br>Robbie<br>