Hey everyone,<div><br></div><div>I&#39;m experiencing a curious issue with regards to a node which sends a message on startup. The following works:</div><div><br></div><div>pub = rospy.Publisher(&quot;/clearpath/announce&quot;, Announce, latch=False)</div>

<div>rospy.init_node(&#39;controller&#39;)</div><div>pub.publish(action=&quot;rollcall&quot;)</div><div><br></div><div>However, if I initialize the node first before setting up the publisher, the message send silently fails. No error, but the message never arrives, and rostopic shows no activity:</div>

<div><br></div><div><div>rospy.init_node(&#39;controller&#39;)</div></div><div><div>pub = rospy.Publisher(&quot;/clearpath/announce&quot;, Announce, latch=False)</div><div>pub.publish(action=&quot;rollcall&quot;)</div></div>

<div><br></div><div>But, when I insert some delays, it works again!</div><div><br></div><div><div><div>rospy.init_node(&#39;controller&#39;)</div></div><div></div><div>rospy.sleep(0.5)</div><div>pub = rospy.Publisher(&quot;/clearpath/announce&quot;, Announce, latch=False)</div>

<div>rospy.sleep(0.5)</div></div><div><div>pub.publish(action=&quot;rollcall&quot;) </div></div><div><br></div><div>I assume that there&#39;s some initialization going on in a background thread; is this a known/documented behavious? Is there some better way to handle it than just these delays?</div>

<div><br></div><div>Thanks,</div><div><br></div><div>Mike Purvis</div>