From b5af92e869fd71fb307f7c215dc78a694dd915aa Mon Sep 17 00:00:00 2001 From: Sahruday Date: Thu, 25 Apr 2024 10:54:58 -0400 Subject: [PATCH 1/2] fix qos of trial_config subscriber to implement droppedpart challenge (#334) * fix qos of trial_config subscriber to implement droppedpart challenge * change qos profile to match task manager --- ariac_plugins/src/vacuum_gripper_plugin.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) 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/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/trial_config", qos.get_subscription_qos("/ariac/trial_config", qos_profile), std::bind(&VacuumGripperPluginPrivate::OnTrialCallback, impl_.get(), std::placeholders::_1)); // Register enable service From 21ea671108ccf967375dcb30eac2648bd2c5acf5 Mon Sep 17 00:00:00 2001 From: Joseph Fernandez Date: Tue, 30 Apr 2024 12:27:15 -0400 Subject: [PATCH 2/2] Updated version numbers --- ariac_controllers/package.xml | 2 +- ariac_description/package.xml | 2 +- ariac_gazebo/package.xml | 2 +- ariac_gui/package.xml | 2 +- ariac_moveit_config/package.xml | 2 +- ariac_msgs/package.xml | 2 +- ariac_plugins/package.xml | 2 +- ariac_sensors/package.xml | 2 +- 8 files changed, 8 insertions(+), 8 deletions(-) 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 @@ ariac_controllers - 2024.3.0 + 2024.4.0 ros2 controllers for ARIAC simulation Justin Albrecht NIST 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 @@ ariac_description - 2024.3.0 + 2024.4.0 Package containing URDF descriptions for all robots in the ARIAC simulation justin NIST 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 @@ ariac_gazebo - 2024.3.0 + 2024.4.0 ARIAC ROS2 port justin NIST 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 @@ ariac_gui - 2024.3.0 + 2024.4.0 GUI for creating trial configurations Joseph Fernandez NIST 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 @@ ariac_moveit_config - 2024.3.0 + 2024.4.0 An package with MoveIt2 configurations for ARIAC robots Justin Albrecht NIST 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 @@ ariac_msgs - 2024.3.0 + 2024.4.0 Interface definitions for ARIAC justin NIST 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 @@ ariac_plugins - 2024.3.0 + 2024.4.0 Gazebo/ROS2 plugins for the ARAIC competition justin albrecht zeid kootbally 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 @@ ariac_sensors - 2024.3.0 + 2024.4.0 Gazebo plugins for the ARIAC sensors justin NIST