Fix publishers being created with invalid QoS profile #205
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jtbandes
approved these changes
Mar 30, 2023
That would be ideal, but there seems to be a bug which prevents us from doing so. See #204 and the linked rclcpp issue |
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Public-Facing Changes
Description
Since #184 we use the QoS profile of an existing publisher when creating a new publisher for a client advertised topic. In case the existing publisher has been destroyed before (but is still registered, see #204), the QoS profile is invalid and creating a publisher fails with the message
'create_publisher() failed setting topic QoS, at ./src/publisher.cpp:226'.This PR mitigates the issue by taking the QoS profile of an existing publisher from a different node (if there is any). The assumption is, that publishers of other nodes are less likely to be destroyed.