From 349605e3ca147055421362be92c65aa7de477635 Mon Sep 17 00:00:00 2001 From: Michael Ferguson Date: Wed, 11 Dec 2024 15:51:16 -0500 Subject: [PATCH] add example without using default policies --- pages/qos.md | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/pages/qos.md b/pages/qos.md index 1c6c3f7..a7192dc 100644 --- a/pages/qos.md +++ b/pages/qos.md @@ -45,6 +45,13 @@ node_name: The same workflow works for subscribers, you just use ``rclcpp::SubscriptionOptions`` instance and change ``publisher`` to ``subscription`` in the YAML file. +When using `with_default_policies`, the `history`, `depth` and `reliability` can be changed. It is also possible +to select other overriding options by passing an initializer list of `QosPolicyKind` to the regular constructor: + +```cpp +pub_options.qos_overriding_options = rclcpp::QosOverridingOptions({rclcpp::QosPolicyKind::Reliability}); +``` + ## Magic Numbers > [!NOTE]