Fix unused QoS profile for clock subscription and make ClockQoS the d…

…efault (ros2#1801) Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai>
irobot-ros · Jul 28, 2023 · bb37b31 · bb37b31
1 parent 6f9772e
commit bb37b31
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/rclcpp/include/rclcpp/node_interfaces/node_time_source.hpp b/rclcpp/include/rclcpp/node_interfaces/node_time_source.hpp
@@ -48,7 +48,7 @@ class NodeTimeSource : public NodeTimeSourceInterface
     rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
     rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock,
     rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters,
-    const rclcpp::QoS & qos = rclcpp::RosoutQoS(),
+    const rclcpp::QoS & qos = rclcpp::ClockQoS(),
     bool use_clock_thread = true
   );
 

diff --git a/rclcpp/src/rclcpp/time_source.cpp b/rclcpp/src/rclcpp/time_source.cpp
@@ -420,7 +420,7 @@ class TimeSource::NodeState : public std::enable_shared_from_this<NodeState>
       node_parameters_,
       node_topics_,
       "/clock",
-      rclcpp::QoS(KeepLast(1)).best_effort(),
+      qos_,
       [state = std::weak_ptr<NodeState>(this->shared_from_this())](
         std::shared_ptr<const rosgraph_msgs::msg::Clock> msg) {
         if (auto state_ptr = state.lock()) {