Merge pull request #16 from husarion/ros2-change-estop-qos

[ROS 2] Change qos of the estop topic
husarion · Dec 18, 2023 · 98244ea · 98244ea
2 parents 4c4b1cd + a52c1cd
commit 98244ea
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/joy2twist/src/joy2twist_node.cpp b/joy2twist/src/joy2twist_node.cpp
@@ -18,7 +18,8 @@ Joy2TwistNode::Joy2TwistNode() : Node("joy2twist_node")
 
   if (e_stop_present_) {
     e_stop_sub_ = this->create_subscription<MsgBool>(
-      e_stop_topic_, rclcpp::SystemDefaultsQoS(), std::bind(&Joy2TwistNode::e_stop_cb, this, _1));
+      e_stop_topic_, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable(),
+      std::bind(&Joy2TwistNode::e_stop_cb, this, _1));
     e_stop_reset_client_ = this->create_client<SrvTrigger>(e_stop_reset_srv_);
     e_stop_trigger_client_ = this->create_client<SrvTrigger>(e_stop_trigger_srv_);
   }