Fix QoS history being unknown when copied from existing publisher #233
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When the QoS profile is copied from another existing publisher, it can happen that the history policy is `Unknown`, leading to an error when subsequently trying to create a publisher with that QoS profile. As a fix, we explicitly set the history policy to the system default. Fixes #200
| @@ -582,7 +582,9 @@ void FoxgloveBridge::clientAdvertise(const foxglove::ClientAdvertisement& advert | |||
| }); | |||
| const rclcpp::QoS qos = otherPublisherIt == otherPublishers.end() | |||
| ? rclcpp::SystemDefaultsQoS() | |||
| : otherPublisherIt->qos_profile(); | |||
| : rclcpp::QoS(otherPublisherIt->qos_profile()) | |||
| // Override the history policy as it can be `unknown` | |||
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Would it be better to only override if it is unknown and leave it otherwise?
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Yes, will do. Although it seems that this is ROS distro specific. On humble this is always unknown (might be a bug), on galactic the history is always set
defunctzombie
approved these changes
Jun 15, 2023
jtbandes
approved these changes
Jun 15, 2023
| rclcpp::QoS qos = otherPublisherIt == otherPublishers.end() ? rclcpp::SystemDefaultsQoS() | ||
| : otherPublisherIt->qos_profile(); | ||
| if (qos.history() == rclcpp::HistoryPolicy::Unknown) { | ||
| qos.history(rclcpp::HistoryPolicy::SystemDefault); |
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Comment on why this is necessary?
Yes, added one. Fails for distros starting from humble without the history policy fix. |
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Public-Facing Changes
Fix QoS history being unknown when copied from existing publisher
Description
When the QoS profile is copied from another existing publisher, it can happen that the history policy is
Unknown, leading to an error when subsequently trying to create a publisher with that QoS profile. As a fix, we explicitly set the history policy to the system default.Fixes #200