Consider a ROS 2 publisher with QoS 'reliable' and a few subscribers.

Suddenly one of the subscribers can no longer be reached (e.g. it is running on a different system and the network cable is pulled out).

As it is a 'reliable' publisher, it will try to republish, but:

  • When?
  • At which frequency?
  • For how long? (I.e. after what duration will it consider the subscriber as 'no longer subscribed'?)

I would assume the latter might be related to the 'liveliness' and 'lease duration', but the documentation only mentions publishers and not subscribers.



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