Make adapter_lift_request QoS transient_local (#930)

Signed-off-by: Luca Della Vedova <[email protected]>
open-rmf · Apr 10, 2024 · 300b34e · 300b34e
1 parent 7dfbbca
commit 300b34e
Showing 1 changed file with 11 additions and 3 deletions.
diff --git a/packages/api-server/api_server/gateway.py b/packages/api-server/api_server/gateway.py
@@ -68,8 +68,16 @@ def __init__(
         self._door_req = ros_node().create_publisher(
             RmfDoorRequest, "adapter_door_requests", 10
         )
-        self._lift_req = ros_node().create_publisher(
-            RmfLiftRequest, "adapter_lift_requests", 10
+
+        transient_qos = rclpy.qos.QoSProfile(
+            history=rclpy.qos.HistoryPolicy.KEEP_LAST,
+            depth=100,
+            reliability=rclpy.qos.ReliabilityPolicy.RELIABLE,
+            durability=rclpy.qos.DurabilityPolicy.TRANSIENT_LOCAL,
+        )
+
+        self._adapter_lift_req = ros_node().create_publisher(
+            RmfLiftRequest, "adapter_lift_requests", transient_qos
         )
         self._submit_task_srv = ros_node().create_client(RmfSubmitTask, "submit_task")
         self._cancel_task_srv = ros_node().create_client(RmfCancelTask, "cancel_task")
@@ -175,7 +183,7 @@ def request_lift(
             destination_floor=destination,
             door_state=door_mode,
         )
-        self._lift_req.publish(msg)
+        self._adapter_lift_req.publish(msg)
 
 
 _rmf_gateway: RmfGateway