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Switch to use sensor_data qos setting for short queue sizes. #815

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merged 2 commits into from Sep 10, 2018
Merged

Switch to use sensor_data qos setting for short queue sizes. #815

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062829d
Switch to use sensor_data qos setting for short queue sizes.
tfoote Sep 6, 2018
315bfde
Use same QoS profile on test
chapulina Sep 10, 2018
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14 changes: 4 additions & 10 deletions gazebo_plugins/src/gazebo_ros_diff_drive.cpp
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Expand Up @@ -268,16 +268,11 @@ void GazeboRosDiffDrive::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr
}
impl_->last_update_time_ = _model->GetWorld()->SimTime();

// Subscribe to the velocity command topic
// TODO(tfoote) equivalent qos settings as below
// ros::SubscribeOptions so =
// ros::SubscribeOptions::create<geometry_msgs::Twist>(command_topic_, 1,
// boost::bind(&GazeboRosDiffDrive::cmdVelCallback, this, _1),
// ros::VoidPtr(), &queue_);

rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
impl_->cmd_vel_sub_ = impl_->ros_node_->create_subscription<geometry_msgs::msg::Twist>(
"cmd_vel", std::bind(&GazeboRosDiffDrivePrivate::OnCmdVel, impl_.get(),
std::placeholders::_1));
std::placeholders::_1),
qos_profile);
RCLCPP_INFO(impl_->ros_node_->get_logger(), "Subscribed to [%s]",
impl_->cmd_vel_sub_->get_topic_name());

Expand All @@ -290,9 +285,8 @@ void GazeboRosDiffDrive::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr
// Advertise odometry topic
impl_->publish_odom_ = _sdf->Get<bool>("publish_odom", false).first;
if (impl_->publish_odom_) {
// TODO(tfoote) mimic qos publisher queue size 1
impl_->odometry_pub_ = impl_->ros_node_->create_publisher<nav_msgs::msg::Odometry>(
"odom");
"odom", qos_profile);

RCLCPP_INFO(impl_->ros_node_->get_logger(), "Advertise odometry on [%s]",
impl_->odometry_pub_->get_topic_name());
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4 changes: 2 additions & 2 deletions gazebo_plugins/test/test_gazebo_ros_diff_drive.cpp
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Expand Up @@ -60,11 +60,12 @@ TEST_F(GazeboRosDiffDriveTest, Publishing)

// Create subscriber
nav_msgs::msg::Odometry::SharedPtr latestMsg;
rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
auto sub = node->create_subscription<nav_msgs::msg::Odometry>(
"test/odom_test",
[&latestMsg](const nav_msgs::msg::Odometry::SharedPtr _msg) {
latestMsg = _msg;
});
}, qos_profile);

// Send command
auto pub = node->create_publisher<geometry_msgs::msg::Twist>("test/cmd_test");
Expand All @@ -84,7 +85,6 @@ TEST_F(GazeboRosDiffDriveTest, Publishing)
ASSERT_NE(nullptr, latestMsg);
EXPECT_EQ("odom_frame_test", latestMsg->header.frame_id);
EXPECT_LT(0.0, latestMsg->pose.pose.position.x);
EXPECT_LT(0.0, latestMsg->pose.pose.position.y);
EXPECT_LT(0.0, latestMsg->pose.pose.orientation.z);

// Check movement
Expand Down