diff --git a/ariac_controllers/package.xml b/ariac_controllers/package.xml index 0f84ad78c..4451110ac 100644 --- a/ariac_controllers/package.xml +++ b/ariac_controllers/package.xml @@ -2,7 +2,7 @@ <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <package format="3"> <name>ariac_controllers</name> - <version>2024.3.0</version> + <version>2024.4.0</version> <description>ros2 controllers for ARIAC simulation</description> <maintainer email="justin.albrecht@nist.gov"> Justin Albrecht</maintainer> <license>NIST</license> diff --git a/ariac_description/package.xml b/ariac_description/package.xml index c40133db4..eda03fc9e 100644 --- a/ariac_description/package.xml +++ b/ariac_description/package.xml @@ -2,7 +2,7 @@ <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <package format="3"> <name>ariac_description</name> - <version>2024.3.0</version> + <version>2024.4.0</version> <description>Package containing URDF descriptions for all robots in the ARIAC simulation</description> <maintainer email="justin.albrecht@nist.gov">justin</maintainer> <license>NIST</license> diff --git a/ariac_gazebo/package.xml b/ariac_gazebo/package.xml index 3d2b232dd..90f864985 100644 --- a/ariac_gazebo/package.xml +++ b/ariac_gazebo/package.xml @@ -2,7 +2,7 @@ <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <package format="3"> <name>ariac_gazebo</name> - <version>2024.3.0</version> + <version>2024.4.0</version> <description>ARIAC ROS2 port</description> <maintainer email="jalbrecht23@gmail.com">justin</maintainer> <license>NIST</license> diff --git a/ariac_gui/package.xml b/ariac_gui/package.xml index 7ac58f957..7ec7ad202 100644 --- a/ariac_gui/package.xml +++ b/ariac_gui/package.xml @@ -2,7 +2,7 @@ <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <package format="3"> <name>ariac_gui</name> - <version>2024.3.0</version> + <version>2024.4.0</version> <description>GUI for creating trial configurations</description> <maintainer email="joseph.fernandez@nist.gov">Joseph Fernandez</maintainer> <license>NIST</license> diff --git a/ariac_moveit_config/package.xml b/ariac_moveit_config/package.xml index 7d16bf0b3..efeb2bc42 100644 --- a/ariac_moveit_config/package.xml +++ b/ariac_moveit_config/package.xml @@ -2,7 +2,7 @@ <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <package format="3"> <name>ariac_moveit_config</name> - <version>2024.3.0</version> + <version>2024.4.0</version> <description> An package with MoveIt2 configurations for ARIAC robots</description> <maintainer email="justin.albrecht@nist.gov">Justin Albrecht</maintainer> <license>NIST</license> diff --git a/ariac_msgs/package.xml b/ariac_msgs/package.xml index 992e8af9e..78e23be90 100644 --- a/ariac_msgs/package.xml +++ b/ariac_msgs/package.xml @@ -2,7 +2,7 @@ <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <package format="3"> <name>ariac_msgs</name> - <version>2024.3.0</version> + <version>2024.4.0</version> <description>Interface definitions for ARIAC</description> <maintainer email="justin.albrecht@nist.gov">justin</maintainer> <license>NIST</license> diff --git a/ariac_plugins/package.xml b/ariac_plugins/package.xml index a1fa4cec0..c6dcb5dbf 100644 --- a/ariac_plugins/package.xml +++ b/ariac_plugins/package.xml @@ -2,7 +2,7 @@ <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <package format="3"> <name>ariac_plugins</name> - <version>2024.3.0</version> + <version>2024.4.0</version> <description>Gazebo/ROS2 plugins for the ARAIC competition</description> <maintainer email="justin.albrecht@nist.gov">justin albrecht</maintainer> <maintainer email="zeid.kootbally@nist.gov">zeid kootbally</maintainer> diff --git a/ariac_plugins/src/vacuum_gripper_plugin.cpp b/ariac_plugins/src/vacuum_gripper_plugin.cpp index 376d3c1ed..8d01d3ffc 100644 --- a/ariac_plugins/src/vacuum_gripper_plugin.cpp +++ b/ariac_plugins/src/vacuum_gripper_plugin.cpp @@ -155,8 +155,10 @@ namespace ariac_plugins impl_->first_publish_ = true; // Connect Subscribers - impl_->trial_config_sub_ = impl_->ros_node_->create_subscription<ariac_msgs::msg::Trial>( - "/ariac/trial_config", qos.get_subscription_qos("/ariac/trial_config", rclcpp::QoS(1)), + rclcpp::QoS qos_profile = rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable(); + + impl_->trial_config_sub_ = impl_->ros_node_->create_subscription<ariac_msgs::msg::Trial>( + "/ariac/trial_config", qos.get_subscription_qos("/ariac/trial_config", qos_profile), std::bind(&VacuumGripperPluginPrivate::OnTrialCallback, impl_.get(), std::placeholders::_1)); // Register enable service diff --git a/ariac_sensors/package.xml b/ariac_sensors/package.xml index 7979a50d5..ea55fcc8c 100644 --- a/ariac_sensors/package.xml +++ b/ariac_sensors/package.xml @@ -2,7 +2,7 @@ <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <package format="3"> <name>ariac_sensors</name> - <version>2024.3.0</version> + <version>2024.4.0</version> <description>Gazebo plugins for the ARIAC sensors</description> <maintainer email="justin.albrecht@nist.gov">justin</maintainer> <license>NIST</license>