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ROS - MoveIT move_group/display_planned_path subscription callback on connection

I'm having a very weird problem with the /move_group/display_planned_path ROS (not ROS2) message from MoveIt!.

The problem is I'm notified of the last planned path as soon as a node subscribes to this topic, even if the publisher (which is internal to MoveIt) has been turned off. This looks like a retained message which, as far as I know, doesn't exists on ROS, it as been introduced with ROS2 only, is that correct? This behavior happens also if I subscribe to the topic with a simple topic echo from a shell, even in this case I suddenly receive last published message.

Since I don't think could be done asking to the message a specific QoS, is anyone aware of any kind on "re-transmission" once a client (new node) connects and asks to receive that specific topic? If so, could you please point me out to the source code of the "ghost" or to any available configuration to avoid it?



source https://stackoverflow.com/questions/72804364/ros-moveit-move-group-display-planned-path-subscription-callback-on-connection

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