From 0256b82a197e29c359fb538353e8efb9d3acfa03 Mon Sep 17 00:00:00 2001
From: fengjingchao-cn <fengjingchao@baidu.com>
Date: Sat, 30 Dec 2017 12:04:14 -0800
Subject: [PATCH 1/2] fix the problem of deadlock when recording the message

---
 .../roscpp/src/libros/subscription.cpp        | 21 +++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/ros/ros_comm/roscpp/src/libros/subscription.cpp b/ros/ros_comm/roscpp/src/libros/subscription.cpp
index 169c8b4..dfbe4ca 100644
--- a/ros/ros_comm/roscpp/src/libros/subscription.cpp
+++ b/ros/ros_comm/roscpp/src/libros/subscription.cpp
@@ -680,6 +680,27 @@ uint32_t Subscription::handleMessage(const SerializedMessage& m, bool ser, bool
     }
   }
 
+  if (name_ == "/rosout" || name_ == "/rosout_agg" || name_ == "/tf") 
+  {
+    if (link)
+    {
+      // measure statistics
+      statistics_.callback(connection_header, name_, link->getCallerID(),
+      m, link->getStats().bytes_received_, receipt_time, drops > 0);
+      // If this link is latched, store off the message so we can immediately 
+      // pass it to new subscribers later
+      if (link->isLatched())
+      {
+      LatchInfo li;
+      li.connection_header = connection_header;
+      li.link = link;
+      li.message = m;
+      li.receipt_time = receipt_time;
+      latched_messages_[link] = li;
+      }
+    }
+  } 
+  else
   {
     boost::mutex::scoped_lock lock(publisher_links_mutex_);
     for (V_PublisherLink::iterator it = publisher_links_.begin(); it != publisher_links_.end(); ++it)

From d2b82ee55591382d623217e288dca9e654b20cf6 Mon Sep 17 00:00:00 2001
From: fengjingchao-cn <fengjingchao@baidu.com>
Date: Mon, 22 Jan 2018 20:21:11 +0800
Subject: [PATCH 2/2] increase the start and stop timeouts for rosmaste

---
 ros/ros_comm/roslaunch/src/roslaunch/launch.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ros/ros_comm/roslaunch/src/roslaunch/launch.py b/ros/ros_comm/roslaunch/src/roslaunch/launch.py
index 758d6fe..25b4053 100644
--- a/ros/ros_comm/roslaunch/src/roslaunch/launch.py
+++ b/ros/ros_comm/roslaunch/src/roslaunch/launch.py
@@ -59,8 +59,8 @@
 
 from rosmaster.master_api import NUM_WORKERS
 
-_TIMEOUT_MASTER_START = 10.0 #seconds
-_TIMEOUT_MASTER_STOP  = 10.0 #seconds
+_TIMEOUT_MASTER_START = 60.0 #seconds
+_TIMEOUT_MASTER_STOP  = 60.0 #seconds
 
 _ID = '/roslaunch'