modelec/ros2_roboclaw_driver
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Change QOS policy to RELIABLE/VOLATILE to match subscribers. Change topic name to puck_joint_states

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This commit is contained in:
Michael Wimble
2022-06-25 19:17:13 -07:00
parent cee9d23139
commit e866e2342f
1 changed files with 4 additions and 3 deletions
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7
src/motor_driver.cpp
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@@ -9,6 +9,7 @@
#include <chrono>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <geometry_msgs/msg/twist.hpp>
#include <rclcpp/qos.hpp>
#include <rclcpp/rclcpp.hpp>
#include <string>
@@ -146,8 +147,8 @@ void MotorDriver::onInit(rclcpp::Node::SharedPtr node) {
auto qos = rclcpp::QoS(
rclcpp::QoSInitialization(RMW_QOS_POLICY_HISTORY_KEEP_LAST, 10));
qos.reliability(RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT);
qos.durability(RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
qos.reliability(RMW_QOS_POLICY_RELIABILITY_RELIABLE);
qos.durability(rclcpp::DurabilityPolicy::Volatile);
qos.avoid_ros_namespace_conventions(false);
cmdVelSub_ = node_->create_subscription<geometry_msgs::msg::Twist>(
@@ -156,7 +157,7 @@ void MotorDriver::onInit(rclcpp::Node::SharedPtr node) {
if (publish_joint_states_) {
joint_state_publisher_ =
this->create_publisher<sensor_msgs::msg::JointState>("JointStates",
this->create_publisher<sensor_msgs::msg::JointState>("puck_joint_states",
qos);
}