From 300b34e598988e4c180052bf2d373c3b5d4c58a7 Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Wed, 10 Apr 2024 12:51:54 +0800 Subject: [PATCH] Make adapter_lift_request QoS transient_local (#930) Signed-off-by: Luca Della Vedova --- packages/api-server/api_server/gateway.py | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) diff --git a/packages/api-server/api_server/gateway.py b/packages/api-server/api_server/gateway.py index a5840742a..ee78ce969 100644 --- 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