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Hello, thanks for the answer. I was aware about this function, but I was referring about internal ROS threads like communication threads, XMLRPC and so on. I'm being investigating a little in the code and I saw that there are at least 3 threads that ROS uses for its internal operations in client library:

boost::thread(internalCallbackQueueThreadFunc);

boost::thread(&PollManager::threadFunc, this);

boost::thread(boost::bind(&XMLRPCManager::serverThreadFunc, this));

While the task of the last one is clear to me and I can understand of the first one (even if the correspondent queue seems to be always empty), I'd like to know what does the second thread polls :).

On the other hand: there are more than these three threads in the client libraries?

Thanks for the answers.