From bb37b310305148046729fe6e830c7cb66f34e0d5 Mon Sep 17 00:00:00 2001
From: Nikolai Morin <nikolai.morin@apex.ai>
Date: Tue, 19 Oct 2021 17:49:54 +0200
Subject: [PATCH] Fix unused QoS profile for clock subscription and make
 ClockQoS the default (#1801)

Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai>
---
 rclcpp/include/rclcpp/node_interfaces/node_time_source.hpp | 2 +-
 rclcpp/src/rclcpp/time_source.cpp                          | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/rclcpp/include/rclcpp/node_interfaces/node_time_source.hpp b/rclcpp/include/rclcpp/node_interfaces/node_time_source.hpp
index 1c9afebe1f..1594d5f8e5 100644
--- 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
index 61c5fdd785..7e1226e1b2 100644
--- 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()) {