1. iceoryx2 Publisher Thread Safety
Publishers cannot be moved across threads due to iceoryx2’s internal single-threaded reference counting. Publishers must be used on the thread where they’re created.2. Keep-Alive Delay
Cleanup runs every 10 seconds, so there’s up to 10s delay before network is disabled after the last subscriber disconnects.This delay is intentional to avoid rapid enable/disable cycles when subscribers reconnect quickly. The 10-second cleanup interval provides a good balance.
3. Type Erasure
TopicManager usesTypeId for type safety but can’t store typed references directly. Each publisher/subscriber is managed via atomic flags.