Change QoS profile using rclcpp::QoS due to deprecated function

lge-ros2 · Oct 7, 2020 · d8bdfc8 · d8bdfc8
1 parent 9d14ed0
commit d8bdfc8
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Showing 4 changed files with 6 additions and 8 deletions.
diff --git a/lidar_driver_sim/src/LidarDriverSim.cpp b/lidar_driver_sim/src/LidarDriverSim.cpp
@@ -65,7 +65,7 @@ void LidarDriverSim::Initialize()
   }
 
   // ROS2 Publisher
-  pubLaser = this->create_publisher<sensor_msgs::msg::LaserScan>(topic_name_, rcl_publisher_get_default_options().qos);
+  pubLaser = this->create_publisher<sensor_msgs::msg::LaserScan>(topic_name_, rclcpp::QoS(10));
 }
 
 void LidarDriverSim::Deinitialize()

diff --git a/micom_driver_sim/src/MicomDriverSim.cpp b/micom_driver_sim/src/MicomDriverSim.cpp
@@ -109,17 +109,17 @@ void MicomDriverSim::Initialize()
   }
 
   // ROS2 Publisher
-  pubBatteryState_ = create_publisher<sensor_msgs::msg::BatteryState>("battery_state", rcl_publisher_get_default_options().qos);
-  pubOdometry_ = create_publisher<nav_msgs::msg::Odometry>("odom", rcl_publisher_get_default_options().qos);
-  pubImu_ = create_publisher<sensor_msgs::msg::Imu>("imu", rcl_publisher_get_default_options().qos);
+  pubBatteryState_ = create_publisher<sensor_msgs::msg::BatteryState>("battery_state", rclcpp::QoS(10));
+  pubOdometry_ = create_publisher<nav_msgs::msg::Odometry>("odom", rclcpp::QoS(10));
+  pubImu_ = create_publisher<sensor_msgs::msg::Imu>("imu", rclcpp::QoS(10));
 
   auto callback_sub = [this](const geometry_msgs::msg::Twist::SharedPtr msg) -> void {
     const auto msgBuf = MakeControlMessage(msg);
     MicomWrite(msgBuf.data(), msgBuf.size());
   };
 
   // ROS2 Subscriber
-  subMicom_ = create_subscription<geometry_msgs::msg::Twist>("cmd_vel", callback_sub, rcl_publisher_get_default_options().qos);
+  subMicom_ = create_subscription<geometry_msgs::msg::Twist>("cmd_vel", rclcpp::QoS(10), callback_sub);
 }
 
 

diff --git a/realsense_driver_sim/src/RealSenseDriverSim.cpp b/realsense_driver_sim/src/RealSenseDriverSim.cpp
@@ -47,7 +47,6 @@ void RealSenseDriverSim::Initialize()
     pSimBridgeInfo->Connect(SimBridge::Mode::CLIENT, portInfo, GetMainHashKey() + "Info");
     GetActivatedModules(pSimBridgeInfo);
 
-    // GetActivatedModules(pSimBridgeInfo);
     const auto transform = GetObjectTransform(pSimBridgeInfo);
     SetupStaticTf2(transform, GetPartsName() + "_link");
   }

diff --git a/unity_ros/src/unity_ros_init.cpp b/unity_ros/src/unity_ros_init.cpp
@@ -49,8 +49,7 @@ UnityRosInit::UnityRosInit()
 
   // Offer transient local durability on the clock topic so that if publishing is infrequent,
   // late subscribers can receive the previously published message(s).
-  clock_pub_ = create_publisher<rosgraph_msgs::msg::Clock>("/clock",
-                                                           rclcpp::QoS(rclcpp::KeepLast(10)).transient_local());
+  clock_pub_ = create_publisher<rosgraph_msgs::msg::Clock>("/clock", rclcpp::QoS(10));
 
   Start();
 }