After running for a period of time, a certain topic may not be subscribed to

[nvidia-tzkj]

Recently, when using rosbridge_server, I found that occasionally there may be situations where a certain topic is not subscribed. We use several different clients to establish connections with it. Other status subscriptions are normal, but robot_pose displays subscribed but does not return data. This topic currently has the highest frequency among all topics, at 20Hz

• Library Version:

• ROS Version: ROS1

• Platform / OS: ubuntu 20.04
  this is our param setting:

• arg name="port" default="9090"

• arg name="address" default="0.0.0.0"

• arg name="ssl" default="false"

• arg name="certfile" default=""

• arg name="keyfile" default=""

• arg name="retry_startup_delay" default="5"

• arg name="fragment_timeout" default="600"

• arg name="delay_between_messages" default="0"

• arg name="max_message_size" default="None"

• arg name="unregister_timeout" default="10000000"

• arg name="websocket_external_port" default="None"

• arg name="use_compression" default="false"

• arg name="authenticate" default="false"

• arg name="websocket_ping_interval" default="0"

• arg name="websocket_ping_timeout" default="30"

• arg name="websocket_null_origin" default="true"

• arg name="topics_glob" default="[*]"

• arg name="services_glob" default="[*]"

• arg name="params_glob" default="[*]"

• arg name="bson_only_mode" default="false"

• arg name="output" default="screen"

  <param name="websocket_ping_interval" value="$(arg websocket_ping_interval)" />
  <param name="websocket_ping_timeout" value="$(arg websocket_ping_timeout)" />
  <param name="websocket_external_port" value="$(arg websocket_external_port)" />

  <param name="topics_glob" value="$(arg topics_glob)"/>
  <param name="services_glob" value="$(arg services_glob)"/>
  <param name="params_glob" value="$(arg params_glob)"/>

  <param name="bson_only_mode" value="$(arg bson_only_mode)"/>
</node>

[nvidia-tzkj]

At the beginning of starting rosbridge, all subscriptions were normal, but after running for a period of time, the robot_pose topic no longer pushes. Even if a connection is re established through rosbridge, the topic information from the device cannot be received anymore, but other topic information from the device can be received.