Use same QoS for all topic pub/subs

turtlesim/include/turtlesim/qos.hpp

@@ -0,0 +1,43 @@
+// Copyright (c) 2024, Open Source Robotics Foundation, Inc.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Willow Garage nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#ifndef TURTLESIM__QOS_HPP_
+#define TURTLESIM__QOS_HPP_
+
+#include <rclcpp/rclcpp.hpp>
+
+namespace turtlesim
+{
+// Return the QoS used for all publishers/subscriptions.
+inline rclcpp::QoS topic_qos()
+{
+  return rclcpp::QoS(rclcpp::KeepLast(1)).reliable();
+}
+}  // namespace turtlesim
+
+#endif  // TURTLESIM__QOS_HPP_

turtlesim/src/turtle.cpp

@@ -44,6 +44,7 @@
 #include "turtlesim/srv/set_pen.hpp"
 #include "turtlesim/srv/teleport_absolute.hpp"
 #include "turtlesim/srv/teleport_relative.hpp"
+#include "turtlesim/qos.hpp"
 
 #define DEFAULT_PEN_R 0xb3
 #define DEFAULT_PEN_G 0xb8
@@ -72,7 +73,7 @@ Turtle::Turtle(
 {
   pen_.setWidth(3);
 
-  rclcpp::QoS qos(rclcpp::KeepLast(7));
+  const rclcpp::QoS qos = topic_qos();
   velocity_sub_ = nh_->create_subscription<geometry_msgs::msg::Twist>(
     real_name + "/cmd_vel", qos, std::bind(
       &Turtle::velocityCallback, this,

turtlesim/tutorials/draw_square.cpp

@@ -36,6 +36,8 @@
 #include <std_srvs/srv/empty.hpp>
 #include <turtlesim/msg/pose.hpp>
 
+#include "turtlesim/qos.hpp"
+
 #define PI 3.141592f
 
 class DrawSquare final : public rclcpp::Node
@@ -44,11 +46,12 @@ class DrawSquare final : public rclcpp::Node
   explicit DrawSquare(const rclcpp::NodeOptions & options = rclcpp::NodeOptions())
   : rclcpp::Node("draw_square", options)
   {
-    twist_pub_ = this->create_publisher<geometry_msgs::msg::Twist>("turtle1/cmd_vel", 1);
+    const rclcpp::QoS qos = turtlesim::topic_qos();
+    twist_pub_ = this->create_publisher<geometry_msgs::msg::Twist>("turtle1/cmd_vel", qos);
 
     pose_sub_ =
       this->create_subscription<turtlesim::msg::Pose>(
-      "turtle1/pose", 1, std::bind(&DrawSquare::poseCallback, this, std::placeholders::_1));
+      "turtle1/pose", qos, std::bind(&DrawSquare::poseCallback, this, std::placeholders::_1));
 
     reset_client_ = this->create_client<std_srvs::srv::Empty>("reset");
 

turtlesim/tutorials/mimic.cpp

@@ -30,15 +30,18 @@
 #include <turtlesim/msg/pose.hpp>
 #include <geometry_msgs/msg/twist.hpp>
 
+#include "turtlesim/qos.hpp"
+
 class MimicNode : public rclcpp::Node
 {
 public:
   MimicNode()
   : rclcpp::Node("turtle_mimic")
   {
-    twist_pub_ = this->create_publisher<geometry_msgs::msg::Twist>("output/cmd_vel", 1);
+    const rclcpp::QoS qos = turtlesim::topic_qos();
+    twist_pub_ = this->create_publisher<geometry_msgs::msg::Twist>("output/cmd_vel", qos);
     pose_sub_ = this->create_subscription<turtlesim::msg::Pose>(
-      "input/pose", 1, std::bind(&MimicNode::poseCallback, this, std::placeholders::_1));
+      "input/pose", qos, std::bind(&MimicNode::poseCallback, this, std::placeholders::_1));
   }
 
 private:

turtlesim/tutorials/teleop_turtle_key.cpp

@@ -44,6 +44,8 @@
 # include <unistd.h>  // NO LINT
 #endif
 
+#include "turtlesim/qos.hpp"
+
 static constexpr char KEYCODE_RIGHT = 0x43;
 static constexpr char KEYCODE_LEFT = 0x44;
 static constexpr char KEYCODE_UP = 0x41;
@@ -186,7 +188,9 @@ class TeleopTurtle final
     nh_->declare_parameter("scale_angular", 2.0);
     nh_->declare_parameter("scale_linear", 2.0);
 
-    twist_pub_ = nh_->create_publisher<geometry_msgs::msg::Twist>("turtle1/cmd_vel", 1);
+    twist_pub_ = nh_->create_publisher<geometry_msgs::msg::Twist>(
+      "turtle1/cmd_vel",
+      turtlesim::topic_qos());
     rotate_absolute_client_ = rclcpp_action::create_client<turtlesim::action::RotateAbsolute>(
       nh_,
       "turtle1/rotate_absolute");