Merge branch 'dev' into humble

.github/workflows/build.yml

@@ -7,21 +7,22 @@ on:
  push:
  branches:
  - dev
+ - humble
  pull_request:
 
 jobs:
  build:
- runs-on: ubuntu-20.04
+ runs-on: ubuntu-22.04
  steps:
  - name: Checkout Repository
  uses: actions/checkout@v2
  - name: Setup ROS 2
- uses: ros-tooling/setup-ros@v0.3
+ uses: ros-tooling/setup-ros@v0.7
  with:
- required-ros-distributions: galactic
+ required-ros-distributions: humble
  - name: Install dependencies
  uses: ros-tooling/action-ros-ci@v0.2
  with:
  package-name: sicks300_2
- target-ros2-distro: galactic
+ target-ros2-distro: humble
  skip-tests: true

README.md

@@ -1,7 +1,7 @@
 # sicks300_2
 
 ![ROS2](https://img.shields.io/badge/ros2-humble-blue?logo=ros&logoColor=white)
-[![Build](https://github.com/ajtudela/sicks300_2/actions/workflows/build.yml/badge.svg?branch=dev)](https://github.com/ajtudela/sicks300_2/actions/workflows/build.yml)
+[![Build](https://github.com/ajtudela/sicks300_2/actions/workflows/build.yml/badge.svg)](https://github.com/ajtudela/sicks300_2/actions/workflows/build.yml)
 
 ## Overview
 

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));