Hi,
I'm upgrading a ros1 package to ros2 and found that std_msgs/Header msg has changed.
in ros1: https://github.com/ros/std_msgs/blob/kinetic-devel/msg/Header.msg
# sequence ID: consecutively increasing ID
uint32 seq
while in ros2: https://github.com/ros2/common_interfaces/blob/rolling/std_msgs/msg/Header.msg
seq is removed. Why?
Originally posted by felixf4xu on ROS Answers with karma: 23 on 2023-08-07
Post score: 0
According to this document: "The field has been deprecated for a long time and was not set consistently in ROS 1." In many cases the subscribers would ignore the sequence number, so it made sense to remove it to reduce overhead. Note that this header is shared across a large variety of messages, so removal does have an impact.
Originally posted by Bernd Pfrommer with karma: 78 on 2023-08-07
This answer was ACCEPTED on the original site
Post score: 1