C++ lcm::LCM singleton needed?

[Tom O'Reilly]

I have a multi-threaded C++ application; components in individual threads need to access LCM. I'm hoping to avoid the multi-threaded Singleton pattern (I'm stuck with the C++98).

Is it wasteful of network or other resources if each component that needs LCM simply calls the LCM constructor, with all components using the same LCM URL argument?  

Thanks

Tom

[Jonathan Bendes]

Hi Tom,

I believe LCM is set up so that you can publish from whatever thread you happen to be in with the same LCM object. Someone else might be able to guarantee that, but looking at lcm.c:publish it seems to be locking around the queue of messages to send. If this is the case, you should only need one object if you just plan on publishing from the various threads.

Best,

Jonathan

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