[ros-users] [Discourse.ros.org] [Next Generation ROS] Maximum amount of publisher / subscriptions per node

[Firesurfer]

Hi,
I was wondering if it's bad in terms of resources to have a great amount of publishers and subscriptions to the same topic in a single application / node or does ROS2/DDS manage them in the background ? Would it be better to have some kind of TopicManager that returns / manages instances of publishers/subscription inside an application. (And all classes that want to use a publisher ask the TopicManager for an instance of this publisher)


Also do I have to worry about a large amount of different topics in the system? Is the amount of topics somehow related to a increase in cpu / memory usage or do I just pay cpu/memory if I'm sending/recieving messages on a topic?

Lennart






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