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Diff drive: Reliable QoS with depth of 1 #819

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merged 1 commit into from Sep 11, 2018
Merged

Diff drive: Reliable QoS with depth of 1 #819

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3 changes: 2 additions & 1 deletion gazebo_plugins/src/gazebo_ros_diff_drive.cpp
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Expand Up @@ -268,7 +268,8 @@ void GazeboRosDiffDrive::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr
}
impl_->last_update_time_ = _model->GetWorld()->SimTime();

rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
rmw_qos_profile_t qos_profile = rmw_qos_profile_default;
qos_profile.depth = 1;
impl_->cmd_vel_sub_ = impl_->ros_node_->create_subscription<geometry_msgs::msg::Twist>(
"cmd_vel", std::bind(&GazeboRosDiffDrivePrivate::OnCmdVel, impl_.get(),
std::placeholders::_1),
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3 changes: 1 addition & 2 deletions gazebo_plugins/test/test_gazebo_ros_diff_drive.cpp
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Expand Up @@ -60,12 +60,11 @@ 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");
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