Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

use permissive QoS to ensure compatibilty with publishers #880

Closed
wants to merge 1 commit into from
Closed

use permissive QoS to ensure compatibilty with publishers #880

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Jump to
Jump to file
Failed to load files.
Diff view
Diff view
8 changes: 6 additions & 2 deletions rosbridge_library/src/rosbridge_library/internal/subscribers.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -106,13 +106,17 @@ def __init__(self, topic, client_id, callback, node_handle, msg_type=None, raw=F
# incompatible. Here we make a "best effort" attempt to match existing
# publishers for the requested topic. This is not perfect because more
# publishers may come online after our subscriber is set up, but we try
# to provide sane defaults. For more information, see:
# to provide sane defaults.
# For this reason we use volatile durability and best effort reliability
# to prioritize topic compatibility when the publisher policy is not known.
# For more information, see:
# - https://docs.ros.org/en/rolling/Concepts/About-Quality-of-Service-Settings.html
# - https://github.com/RobotWebTools/rosbridge_suite/issues/551
# - https://github.com/RobotWebTools/rosbridge_suite/issues/769
qos = QoSProfile(
depth=10,
durability=DurabilityPolicy.VOLATILE,
reliability=ReliabilityPolicy.RELIABLE,
reliability=ReliabilityPolicy.BEST_EFFORT,
)

infos = node_handle.get_publishers_info_by_topic(topic)
Expand Down