Multithreaded topics sometimes don't respond

[RealManRobot]

I also have similar problems. When I use node publish one topic, sometimes subscription can't receive. When I pub this topic in terminal, sometimes it will show (Waiting for at least 1 matching subscription(s)...) . Can you tell me a way to solve this problem. My code link https://github.com/RealManRobot/ros2_rm_robot/blob/main/rm_driver/src/rm_driver.cpp Thank you ,

Kaola

[shamlian]

Breadcrumb, since it's unclear from whence this sprung: #355 (reply in thread)