Fix latched profile

ajtudela · Sep 26, 2023 · e1cdb77 · e1cdb77
1 parent eef5a17
commit e1cdb77
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/sicks300_2.cpp b/src/sicks300_2.cpp
@@ -151,10 +151,11 @@ rclcpp_CallReturn SickS3002::on_configure(const rclcpp_lifecycle::State &){
  scanner_.setRangeField(1, param);
 
  // Configure the publishers
+ auto latched_profile = rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable();
  laser_scan_pub_ = this->create_publisher<sensor_msgs::msg::LaserScan>(
  scan_topic_, rclcpp::SensorDataQoS());
  in_standby_pub_ = this->create_publisher<std_msgs::msg::Bool>(
- scan_topic_ + "/standby", rclcpp::QoS(1).transient_local());
+ scan_topic_ + "/standby", latched_profile);
  diag_pub_ = this->create_publisher<diagnostic_msgs::msg::DiagnosticArray>(
  "/diagnostics", rclcpp::QoS(1));