Right now every time we create a publisher we also create a service that provide the proto schema for the publisher. We want to be able to disable this to improve performance.
Disabling this may have consequences on other modules, like bag recorder, we need to check that we do not break them.
Right now every time we create a publisher we also create a service that provide the proto schema for the publisher. We want to be able to disable this to improve performance. Disabling this may have consequences on other modules, like bag recorder, we need to check that we do not break them.