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Added sensor data qos to laser scan publisher #36

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Added sensor data qos to laser scan publisher #36

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22 changes: 22 additions & 0 deletions .vscode/c_cpp_properties.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1,22 @@
{
"configurations": [
{
"browse": {
"databaseFilename": "${default}",
"limitSymbolsToIncludedHeaders": false
},
"includePath": [
"/home/brian/rplidar_ws/install/rplidar_ros/include/**",
"/opt/ros/humble/include/**",
"/home/brian/rplidar_ws/src/rplidar_ros/include/**",
"/usr/include/**"
],
"name": "ROS",
"intelliSenseMode": "gcc-x64",
"compilerPath": "/usr/bin/gcc",
"cStandard": "gnu11",
"cppStandard": "c++14"
}
],
"version": 4
}
14 changes: 14 additions & 0 deletions .vscode/settings.json
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@@ -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?

"python.autoComplete.extraPaths": [
"/opt/ros/humble/lib/python3.10/site-packages",
"/opt/ros/humble/local/lib/python3.10/dist-packages"
],
"python.analysis.extraPaths": [
"/opt/ros/humble/lib/python3.10/site-packages",
"/opt/ros/humble/local/lib/python3.10/dist-packages"
],
"files.associations": {
"functional": "cpp"
}
}
1 change: 1 addition & 0 deletions include/rplidar_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@
#define RPLIDAR_NODE_HPP_

#include <rclcpp/clock.hpp>
#include <rclcpp/qos.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/time.hpp>
#include <rclcpp/time_source.hpp>
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5 changes: 3 additions & 2 deletions src/rplidar_node.cpp
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Expand Up @@ -33,7 +33,7 @@
*
*/

#include <rplidar_node.hpp>
#include "rplidar_node.hpp"

namespace rplidar_ros
{
Expand Down Expand Up @@ -112,7 +112,8 @@ rplidar_node::rplidar_node(const rclcpp::NodeOptions & options)
/* done setting up RPLIDAR stuff, now set up ROS 2 stuff */

/* 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?


/* create stop motor service */
m_stop_motor_service = this->create_service<std_srvs::srv::Empty>(
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