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Use QoS profile of existing publishers (if available) when creating new publishers #184

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Mar 8, 2023
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Use QoS profile of existing publishers (if available) when creating new publishers #184

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10 changes: 9 additions & 1 deletion ros2_foxglove_bridge/src/ros2_foxglove_bridge.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -666,7 +666,15 @@ class FoxgloveBridge : public rclcpp::Node {
// Create a new topic advertisement
const auto& topicName = advertisement.topic;
const auto& topicType = advertisement.schemaName;
rclcpp::QoS qos{rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)};

// Lookup if there are other publishers for that topic. If that's the case, we use a matching
// QoS profile.
const auto otherPublishers = get_publishers_info_by_topic(topicName);
const rclcpp::QoS qos =
otherPublishers.empty()
? rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default))
: otherPublishers.front().qos_profile();

rclcpp::PublisherOptions publisherOptions{};
publisherOptions.callback_group = _clientPublishCallbackGroup;
auto publisher = this->create_generic_publisher(topicName, topicType, qos, publisherOptions);
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