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Explicitly specify all qos depth #70

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merged 5 commits into from
Feb 1, 2024
Merged

Explicitly specify all qos depth #70

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cfbffcf
use keep_last(10) for all instances without a depth already set
Jan 31, 2024
4b6dbc7
style
Jan 31, 2024
7eed005
catch multi line usages
Jan 31, 2024
452cc7c
revert wrong changes
Jan 31, 2024
671f733
style
Jan 31, 2024
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2 changes: 1 addition & 1 deletion rmf_visualization_floorplans/src/FloorplanVisualizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -123,7 +123,7 @@ FloorplanVisualizer::FloorplanVisualizer(const rclcpp::NodeOptions& options)

_param_sub = this->create_subscription<RvizParam>(
"rmf_visualization/parameters",
rclcpp::SystemDefaultsQoS(),
rclcpp::SystemDefaultsQoS().keep_last(10),
[=](RvizParam::ConstSharedPtr msg)
{
if (msg->map_name.empty() || msg->map_name == _current_level)
Expand Down
2 changes: 1 addition & 1 deletion rmf_visualization_navgraphs/src/NavGraphVisualizer.cpp
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Expand Up @@ -411,7 +411,7 @@ NavGraphVisualizer::NavGraphVisualizer(const rclcpp::NodeOptions& options)
// It is okay to capture this by reference here.
_param_sub = this->create_subscription<RvizParam>(
"rmf_visualization/parameters",
rclcpp::SystemDefaultsQoS(),
rclcpp::SystemDefaultsQoS().keep_last(10),
[=](RvizParam::ConstSharedPtr msg)
{
if (msg->map_name.empty() || msg->map_name == _current_level)
Expand Down
8 changes: 3 additions & 5 deletions rmf_visualization_rviz2_plugins/src/LiftPanel.cpp
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Expand Up @@ -36,12 +36,10 @@ LiftPanel::LiftPanel(QWidget* parent)
{
lift_state_callback(std::move(msg));
});
const auto transient_qos = rclcpp::SystemDefaultsQoS()
.reliable().keep_last(100).transient_local();
_lift_request_pub = _node->create_publisher<LiftRequest>(
LiftRequestTopicName, transient_qos);
LiftRequestTopicName, rclcpp::QoS(10));
_adapter_lift_request_pub = _node->create_publisher<LiftRequest>(
AdapterLiftRequestTopicName, transient_qos);
AdapterLiftRequestTopicName, rclcpp::QoS(10));

create_layout();
create_connections();
Expand Down Expand Up @@ -375,7 +373,7 @@ void LiftPanel::lift_state_callback(LiftState::UniquePtr msg)
void LiftPanel::display_state(const LiftState& msg)
{
std::string floors_str = "";
for (const auto& f : msg.available_floors)
for (const auto f : msg.available_floors)
floors_str += f + ", ";

std::string available_modes_str = "";
Expand Down
13 changes: 8 additions & 5 deletions rmf_visualization_rviz2_plugins/src/SchedulePanel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,9 +42,10 @@ SchedulePanel::SchedulePanel(QWidget* parent)

// Creating publisher
_param_pub = _node->create_publisher<RvizParamMsg>(
_param_topic.toStdString(), rclcpp::SystemDefaultsQoS());
_param_topic.toStdString(), rclcpp::SystemDefaultsQoS().keep_last(10));
_cancel_pub = _node->create_publisher<NegotiationRefusal>(
rmf_traffic_ros2::NegotiationRefusalTopicName, rclcpp::SystemDefaultsQoS());
rmf_traffic_ros2::NegotiationRefusalTopicName,
rclcpp::SystemDefaultsQoS().keep_last(10));

// Create layout for output topic and map_name
QHBoxLayout* layout1 = new QHBoxLayout;
Expand Down Expand Up @@ -130,14 +131,16 @@ SchedulePanel::SchedulePanel(QWidget* parent)
SIGNAL(clicked()), this, SLOT(cancel_negotiation()));

_notice_sub = _node->create_subscription<NegotiationNotice>(
"/rmf_traffic/negotiation_notice", rclcpp::SystemDefaultsQoS(),
"/rmf_traffic/negotiation_notice", rclcpp::SystemDefaultsQoS().keep_last(
10),
[&](const NegotiationNotice::UniquePtr msg)
{
this->recieved_notification(*msg);
});

_conclusion_sub = _node->create_subscription<NegotiationConclusion>(
"/rmf_traffic/negotiation_conclusion", rclcpp::SystemDefaultsQoS(),
"/rmf_traffic/negotiation_conclusion", rclcpp::SystemDefaultsQoS().keep_last(
10),
[&](const NegotiationConclusion::UniquePtr msg)
{
this->recieved_conclusion(*msg);
Expand Down Expand Up @@ -263,7 +266,7 @@ void SchedulePanel::set_topic(const QString& new_topic)
{
// Update publisher
_param_pub = _node->create_publisher<RvizParamMsg>(
_param_topic.toStdString(), rclcpp::SystemDefaultsQoS());
_param_topic.toStdString(), rclcpp::SystemDefaultsQoS().keep_last(10));
// Send new message
send_param();
}
Expand Down
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