Explicitly specify all qos depth (#116)

open-rmf · Feb 1, 2024 · f71d2d3 · f71d2d3
1 parent c985ed0
commit f71d2d3
Show file tree

Hide file tree

Showing 5 changed files with 11 additions and 11 deletions.
diff --git a/rmf_building_sim_common/src/door_common.cpp b/rmf_building_sim_common/src/door_common.cpp
@@ -72,10 +72,10 @@ DoorCommon::DoorCommon(const std::string& door_name,
   _request.requested_mode.value = DoorMode::MODE_CLOSED;
 
   _door_state_pub = _ros_node->create_publisher<DoorState>(
-    "/door_states", rclcpp::SystemDefaultsQoS());
+    "/door_states", rclcpp::SystemDefaultsQoS().keep_last(10));
 
   _door_request_sub = _ros_node->create_subscription<DoorRequest>(
-    "/door_requests", rclcpp::SystemDefaultsQoS(),
+    "/door_requests", rclcpp::SystemDefaultsQoS().keep_last(10),
     [&](DoorRequest::UniquePtr msg)
     {
       if (msg->door_name == _state.door_name)

diff --git a/rmf_building_sim_common/src/lift_common.cpp b/rmf_building_sim_common/src/lift_common.cpp
@@ -204,13 +204,13 @@ LiftCommon::LiftCommon(rclcpp::Node::SharedPtr node,
 
   // initialize pub & sub
   _lift_state_pub = _ros_node->create_publisher<LiftState>(
-    "/lift_states", rclcpp::SystemDefaultsQoS());
+    "/lift_states", rclcpp::SystemDefaultsQoS().keep_last(10));
 
   _door_request_pub = _ros_node->create_publisher<DoorRequest>(
-    "/adapter_door_requests", rclcpp::SystemDefaultsQoS());
+    "/adapter_door_requests", rclcpp::SystemDefaultsQoS().keep_last(10));
 
   _lift_request_sub = _ros_node->create_subscription<LiftRequest>(
-    "/lift_requests", rclcpp::SystemDefaultsQoS(),
+    "/lift_requests", rclcpp::SystemDefaultsQoS().keep_last(10),
     [&](LiftRequest::UniquePtr msg)
     {
       if (msg->lift_name != _lift_name)
@@ -247,7 +247,7 @@ LiftCommon::LiftCommon(rclcpp::Node::SharedPtr node,
     });
 
   _door_state_sub = _ros_node->create_subscription<DoorState>(
-    "/door_states", rclcpp::SystemDefaultsQoS(),
+    "/door_states", rclcpp::SystemDefaultsQoS().keep_last(10),
     [&](DoorState::SharedPtr msg)
     {
       std::string name = msg->door_name;

diff --git a/rmf_building_sim_gz_classic_plugins/src/toggle_floors.cpp b/rmf_building_sim_gz_classic_plugins/src/toggle_floors.cpp
@@ -51,7 +51,7 @@ class ToggleFloors : public gazebo::GUIPlugin
 
     // toggle non-static robots
     fleet_state_sub = ros_node->create_subscription<FleetState>(
-      "/fleet_states", rclcpp::SystemDefaultsQoS(),
+      "/fleet_states", rclcpp::SystemDefaultsQoS().keep_last(10),
       [&](FleetState::UniquePtr msg)
       {
         bool visible;

diff --git a/rmf_robot_sim_common/src/dispenser_common.cpp b/rmf_robot_sim_common/src/dispenser_common.cpp
@@ -187,7 +187,7 @@ void TeleportDispenserCommon::init_ros_node(const rclcpp::Node::SharedPtr node)
 
   _fleet_state_sub = ros_node->create_subscription<FleetState>(
     "/fleet_states",
-    rclcpp::SystemDefaultsQoS(),
+    rclcpp::SystemDefaultsQoS().keep_last(10),
     std::bind(&TeleportDispenserCommon::fleet_state_cb, this,
     std::placeholders::_1));
 
@@ -196,7 +196,7 @@ void TeleportDispenserCommon::init_ros_node(const rclcpp::Node::SharedPtr node)
 
   _request_sub = ros_node->create_subscription<DispenserRequest>(
     "/dispenser_requests",
-    rclcpp::SystemDefaultsQoS().reliable(),
+    rclcpp::SystemDefaultsQoS().keep_last(10).reliable(),
     std::bind(&TeleportDispenserCommon::dispenser_request_cb, this,
     std::placeholders::_1));
 

diff --git a/rmf_robot_sim_common/src/ingestor_common.cpp b/rmf_robot_sim_common/src/ingestor_common.cpp
@@ -182,7 +182,7 @@ void TeleportIngestorCommon::init_ros_node(const rclcpp::Node::SharedPtr node)
 
   _fleet_state_sub = ros_node->create_subscription<FleetState>(
     "/fleet_states",
-    rclcpp::SystemDefaultsQoS(),
+    rclcpp::SystemDefaultsQoS().keep_last(10),
     std::bind(&TeleportIngestorCommon::fleet_state_cb, this,
     std::placeholders::_1));
 
@@ -191,7 +191,7 @@ void TeleportIngestorCommon::init_ros_node(const rclcpp::Node::SharedPtr node)
 
   _request_sub = ros_node->create_subscription<IngestorRequest>(
     "/ingestor_requests",
-    rclcpp::SystemDefaultsQoS().reliable(),
+    rclcpp::SystemDefaultsQoS().keep_last(10).reliable(),
     std::bind(&TeleportIngestorCommon::ingestor_request_cb, this,
     std::placeholders::_1));