Make transition event topic reliable to avoid topic lost

Signed-off-by: Junya Kuwada <[email protected]>
ros2 · Jul 19, 2024 · 614c989 · 614c989
1 parent 0723613
commit 614c989
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/rcl_lifecycle/src/com_interface.c b/rcl_lifecycle/src/com_interface.c
@@ -108,6 +108,9 @@ rcl_lifecycle_com_interface_publisher_init(
 
   // initialize publisher
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
+  publisher_options.qos.reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  publisher_options.qos.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+  publisher_options.qos.depth = 1;
   rcl_ret_t ret = rcl_publisher_init(
     &com_interface->pub_transition_event, node_handle,
     ts_pub_notify, pub_transition_event_topic, &publisher_options);