Maybe I wasn't clear enough last time: this is a barebone testbed.
Ok so you want to know what I have to do: the entire application manages a robot, with sensors, map building, odometry, state estimation.
The ZMQ part is only to communicate with other robots.
Do you really need to know the specifics of what I have to do, to believe that blocking doesn't suit my needs?
Originally Posted by Codeplug
Do you have "other code" that must be run during these two wait periods?
Really: are you making fun of me?
Do you have any familiarity with the concepts of control theory, time coherence, sampling, signal theory and moreover determinism?