Use QoS profile of existing publishers (if available) when creating new publishers #184
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jtbandes
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Mar 8, 2023
achim-k
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Mar 31, 2023
### Public-Facing Changes - Fix publishers being created with invalid QoS profile ### 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.
This was referenced Nov 5, 2023
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Public-Facing Changes
Description
So far Publishers created for client-published topics were using a default QoS profile. This could lead to issues with Subscribers not receiving messages when publishing to topics such as
/rosoutwhere usually a different QoS profile is used.See also https://foxglove.slack.com/archives/C028UEY858S/p1678224259232239