Merge pull request #4 from HarvestX/fix/message-qos

Fix topic QoS
HarvestX · Apr 29, 2024 · 997c95c · 997c95c
2 parents 4548f58 + 333c431
commit 997c95c
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/src/AprilTagNode.cpp b/src/AprilTagNode.cpp
@@ -103,8 +103,9 @@ AprilTagNode::AprilTagNode(const rclcpp::NodeOptions& options)
         this->get_node_topics_interface()->resolve_topic_name("image_rect"),
         std::bind(&AprilTagNode::onCamera, this, std::placeholders::_1, std::placeholders::_2),
         declare_parameter("image_transport", "raw", descr({}, true)),
-        rmw_qos_profile_sensor_data)),
-    pub_detections(create_publisher<apriltag_msgs::msg::AprilTagDetectionArray>("detections", rclcpp::QoS(1))),
+        rmw_qos_profile_default)),
+    pub_detections(create_publisher<apriltag_msgs::msg::AprilTagDetectionArray>(
+        "detections", rclcpp::QoS(1).reliable().durability_volatile())),
     tf_broadcaster(this)
 {
     // read-only parameters