Hello everyone, I have some further questions about the uORB framework that I'm hoping could be answered.
First, I noticed while looking at the source code for the uORB library that there is a helper for creating an `orb_loop` with data handlers, that polls some file descriptors and handles data as it comes in. This seems to be a really common pattern with uORB, but from reading the code I'm not super clear on how to set it up to use it. Would someone who has used these features be willing to write documentation for it, or at least give me some pointers/example code from their project? Secondly, I know that uORB can have multiple subscribers to one topic. However, it appears that the subscribers consume from one set of data in that topic, so if one subscriber beats the other to reading the data first, that data is gone forever and is only consumed by one subscriber. Is there a way to have the data be duplicated in a topic, or is it necessary to do that in the application logic in userspace? The best way I could think of was reading the data from the first subscriber and then re-publishing it under another topic for the second subscriber, but that doesn't seem very efficient. Thank you, -- Matteo Golin
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