Update QoS for panel publishers (#74)

* First draft of event based state update Signed-off-by: Luca Della Vedova <[email protected]> * Fix publishing of building markers on non existing level Signed-off-by: Luca Della Vedova <[email protected]> * Fix QoS for door and lift states Signed-off-by: Luca Della Vedova <[email protected]> * Always publish whole state to rviz Signed-off-by: Luca Della Vedova <[email protected]> * Remove unused imports Signed-off-by: Luca Della Vedova <[email protected]> * Add missing lift state publish Signed-off-by: Luca Della Vedova <[email protected]> * Fix lift request QoS to be transient local Signed-off-by: Luca Della Vedova <[email protected]> * Revert to main Signed-off-by: Luca Della Vedova <[email protected]> * Remove extra change Signed-off-by: Luca Della Vedova <[email protected]> --------- Signed-off-by: Luca Della Vedova <[email protected]>
open-rmf · Jun 5, 2024 · e6e256b · e6e256b
1 parent 35f7e4f
commit e6e256b
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Showing 2 changed files with 10 additions and 4 deletions.
diff --git a/rmf_visualization_rviz2_plugins/src/DoorPanel.cpp b/rmf_visualization_rviz2_plugins/src/DoorPanel.cpp
@@ -30,9 +30,11 @@ DoorPanel::DoorPanel(QWidget* parent)
 : rviz_common::Panel(parent),
   _requester_id(DoorPanelRequesterId)
 {
+  const auto default_qos =
+    rclcpp::SystemDefaultsQoS().durability_volatile().keep_last(100).reliable();
   _node = std::make_shared<rclcpp::Node>(_requester_id + "_node");
   _door_state_sub = _node->create_subscription<DoorState>(
-    DoorStateTopicName, 10, [&](DoorState::UniquePtr msg)
+    DoorStateTopicName, default_qos, [&](DoorState::UniquePtr msg)
     {
       door_state_callback(std::move(msg));
     });

diff --git a/rmf_visualization_rviz2_plugins/src/LiftPanel.cpp b/rmf_visualization_rviz2_plugins/src/LiftPanel.cpp
@@ -30,16 +30,20 @@ LiftPanel::LiftPanel(QWidget* parent)
 : rviz_common::Panel(parent),
   _session_id(LiftPanelSessionId)
 {
+  const auto default_qos =
+    rclcpp::SystemDefaultsQoS().durability_volatile().keep_last(100).reliable();
+  const auto transient_qos =
+    rclcpp::SystemDefaultsQoS().transient_local().keep_last(100).reliable();
   _node = std::make_shared<rclcpp::Node>(_session_id + "_node");
   _lift_state_sub = _node->create_subscription<LiftState>(
-    LiftStateTopicName, 10, [&](LiftState::UniquePtr msg)
+    LiftStateTopicName, default_qos, [&](LiftState::UniquePtr msg)
     {
       lift_state_callback(std::move(msg));
     });
   _lift_request_pub = _node->create_publisher<LiftRequest>(
-    LiftRequestTopicName, rclcpp::QoS(10));
+    LiftRequestTopicName, transient_qos);
   _adapter_lift_request_pub = _node->create_publisher<LiftRequest>(
-    AdapterLiftRequestTopicName, rclcpp::QoS(10));
+    AdapterLiftRequestTopicName, transient_qos);
 
   create_layout();
   create_connections();