<br><div class="gmail_quote"><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">Also... are the real-time publishers below doing anything different than regular publishers, given that they aren't actually working in part of the pr2_controller manager? It seems I didn't have to call ros::spinOnce() anywhere to get those to work, but I ended up having to call ros::spinOnce() every 100ms anyway to get the incoming pose commands to update.<br>

<br></blockquote><div><br>spin/spinOnce/etc. only affect calling your callbacks.  Publishing a message does not require spin/spinOnce at all.  (Mentioned briefly in the pub/sub tutorial: <a href="http://www.ros.org/wiki/roscpp_tutorials/Tutorials/WritingPublisherSubscriber">http://www.ros.org/wiki/roscpp_tutorials/Tutorials/WritingPublisherSubscriber</a>, and more in-depth in the callbacks/spinning overview: <a href="http://www.ros.org/wiki/roscpp/Overview/Callbacks%20and%20Spinning">http://www.ros.org/wiki/roscpp/Overview/Callbacks%20and%20Spinning</a>).<br>

<br>Josh <br></div></div>