Fix unused QoS profile for clock subscription and make ClockQoS the d…

…efault
ros2 · Oct 13, 2021 · d336613 · d336613
1 parent 3019575
commit d336613
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/rclcpp/include/rclcpp/node_interfaces/node_time_source.hpp b/rclcpp/include/rclcpp/node_interfaces/node_time_source.hpp
@@ -48,7 +48,7 @@ class NodeTimeSource : public NodeTimeSourceInterface
     rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
     rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock,
     rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters,
-    const rclcpp::QoS & qos = rclcpp::RosoutQoS(),
+    const rclcpp::QoS & qos = rclcpp::ClockQoS(),
     bool use_clock_thread = true
   );
 

diff --git a/rclcpp/src/rclcpp/time_source.cpp b/rclcpp/src/rclcpp/time_source.cpp
@@ -276,7 +276,7 @@ void TimeSource::create_clock_sub()
     node_parameters_,
     node_topics_,
     "/clock",
-    rclcpp::QoS(KeepLast(1)).best_effort(),
+    qos_,
     std::bind(&TimeSource::clock_cb, this, std::placeholders::_1),
     options
   );