fix qos of trial_config subscriber to implement droppedpart challenge #334
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jaybrecht
reviewed
Apr 25, 2024
| @@ -155,8 +155,11 @@ namespace ariac_plugins | |||
| impl_->first_publish_ = true; | |||
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| // Connect Subscribers | |||
| rclcpp::QoS custom_qos(1); | |||
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To keep consistency with the task manager plugin use this format for the QoS:
rclcpp::QoS qos_profile = rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable();
impl_->trial_config_sub_ = impl_->ros_node_->create_subscription<ariac_msgs::msg::Trial>(
"/ariac/trial_config", qos.get_subscription_qos("/ariac/trial_config", qos_profile),
std::bind(&VacuumGripperPluginPrivate::OnTrialCallback, impl_.get(), std::placeholders::_1));
jaybrecht
requested changes
Apr 25, 2024
jaybrecht
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Apr 25, 2024
jaybrecht
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Apr 30, 2024
* fix qos of trial_config subscriber to implement droppedpart challenge (#334) * fix qos of trial_config subscriber to implement droppedpart challenge * change qos profile to match task manager * Updated version numbers --------- Co-authored-by: Sahruday <sahrudaypatti@gmail.com> Co-authored-by: Joseph Fernandez <jothomas0615@gmail.com>
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The Dropped part Challenge does not work because of the Qos profile mismatch between the publisher and subscriber.