From a52c1cd64d34c080a8ca7e857f43b99bf7e0a1e1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Maciej=20St=C4=99pie=C5=84?= <maciej.stepien@husarion.com>
Date: Fri, 15 Dec 2023 17:45:12 +0100
Subject: [PATCH] Change qos of the estop topic

without when joy2twist was launched after panther_ros, estop message wasn't received correctly
---
 joy2twist/src/joy2twist_node.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/joy2twist/src/joy2twist_node.cpp b/joy2twist/src/joy2twist_node.cpp
index cf94c99..35592e3 100644
--- 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_);
   }