Be explicit about reliability in Lifespan demo, to depend less on def…

…aults (#350) Signed-off-by: Emerson Knapp <eknapp@amazon.com>
ros2 · May 23, 2019 · bb5874e · bb5874e
1 parent cee4332
commit bb5874e
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diff --git a/quality_of_service_demo/rclcpp/src/lifespan.cpp b/quality_of_service_demo/rclcpp/src/lifespan.cpp
@@ -101,6 +101,9 @@ int main(int argc, char * argv[])
 
   rclcpp::QoS qos_profile(history);
   qos_profile
+  // Guaranteed delivery is needed to send messages to late-joining subscriptions.
+  .reliable()
+  // Store messages on the publisher so that they can be affected by Lifespan.
   .transient_local()
   .lifespan(lifespan_duration);
 

diff --git a/quality_of_service_demo/rclpy/quality_of_service_demo_py/lifespan.py b/quality_of_service_demo/rclpy/quality_of_service_demo_py/lifespan.py
@@ -21,6 +21,7 @@
 from rclpy.executors import SingleThreadedExecutor
 from rclpy.qos import QoSDurabilityPolicy
 from rclpy.qos import QoSProfile
+from rclpy.qos import QoSReliabilityPolicy
 
 
 def parse_args():
@@ -51,7 +52,10 @@ def main(args=None):
 
     qos_profile = QoSProfile(
         depth=parsed_args.history,
-        durability=QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
+        # Guaranteed delivery is needed to send messages to late-joining subscription.
+        reliability=QoSReliabilityPolicy.RELIABLE,
+        # Store messages on the publisher so that they can be affected by Lifespan.
+        durability=QoSDurabilityPolicy.TRANSIENT_LOCAL,
         lifespan=lifespan)
 
     listener = Listener(