Added sensor data qos to laser scan publisher #36
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allenh1
requested changes
Jun 15, 2023
| @@ -112,7 +112,8 @@ rplidar_node::rplidar_node(const rclcpp::NodeOptions & options) | |||
| /* done setting up RPLIDAR stuff, now set up ROS 2 stuff */ | |||
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| /* create the publisher for "/scan" */ | |||
| m_publisher = this->create_publisher<LaserScan>(topic_name_, 10); | |||
| rclcpp::QoS scan_qos(rclcpp::KeepLast(5),rmw_qos_profile_sensor_data); | |||
| m_publisher = this->create_publisher<LaserScan>(topic_name_, scan_qos); | |||
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I'm not sure about making this the default. This would break existing behavior (as subscriptions would also need to be updated).
Could we add this as a parameter instead?
| @@ -0,0 +1,14 @@ | |||
| { | |||
| "ros.distro": "humble", | |||
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I think this was added by accident? Could you please remove the extra files?
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use preset rmw_qos_profile_sensor_data qos profile