Fixed qos profile parameters

Robotic-Decision-Making-Lab · Mar 30, 2024 · ef97915 · ef97915
1 parent c9f507a
commit ef97915
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Showing 2 changed files with 14 additions and 14 deletions.
diff --git a/mobile_to_maritime/launch/demo.launch.yaml b/mobile_to_maritime/launch/demo.launch.yaml
@@ -8,10 +8,9 @@ launch:
           value: /cmd_vel
         - name: out_topic
           value: /cmd_vel_fsd
-        # Set the QoS profile to ensure that the subscriber is compatible with the publisher
-        - name: qos.reliability
-          value: system_default
-        - name: qos.durability
+        - name: qos_reliability
+          value: best_effort
+        - name: qos_durability
           value: system_default
 
   - executable:

diff --git a/mobile_to_maritime/mobile_to_maritime/mobile_to_maritime.py b/mobile_to_maritime/mobile_to_maritime/mobile_to_maritime.py
@@ -40,14 +40,14 @@ def __init__(self, message_type: Any, node_name: str) -> None:
 
         # Configure the QoS profile to avoid compatibility issues
         self.declare_parameters(
-            "qos",
+            "",
             [
-                ("history", "keep_last"),
-                ("reliability", "reliable"),
-                ("durability", "volatile"),
+                ("qos_history", "keep_last"),
+                ("qos_reliability", "reliable"),
+                ("qos_durability", "volatile"),
             ],
         )
-        self.declare_parameters("qos", [("depth", 10)])
+        self.declare_parameters("", [("qos_depth", 10)])
 
         in_topic = self.get_parameter("in_topic").get_parameter_value().string_value
         out_topic = self.get_parameter("out_topic").get_parameter_value().string_value
@@ -63,22 +63,23 @@ def __init__(self, message_type: Any, node_name: str) -> None:
     def _get_qos_profile_from_params(self) -> QoSProfile:
         """Construct a QoS profile from the parameters."""
         history = QoSHistoryPolicy.get_from_short_key(
-            self.get_parameter("qos.history").get_parameter_value().string_value
+            self.get_parameter("qos_history").get_parameter_value().string_value
         )
         reliability = QoSReliabilityPolicy.get_from_short_key(
-            self.get_parameter("qos.reliability").get_parameter_value().string_value
+            self.get_parameter("qos_reliability").get_parameter_value().string_value
         )
         durability = QoSDurabilityPolicy.get_from_short_key(
-            self.get_parameter("qos.durability").get_parameter_value().string_value
+            self.get_parameter("qos_durability").get_parameter_value().string_value
         )
-        depth = self.get_parameter("qos.depth").get_parameter_value().integer_value
+        depth = self.get_parameter("qos_depth").get_parameter_value().integer_value
 
         return QoSProfile(
             history=history, reliability=reliability, durability=durability, depth=depth
         )
 
     @abstractmethod
-    def in_callback(self, msg: Any) -> None: ...
+    def in_callback(self, msg: Any) -> None:
+        ...
 
 
 class MaritimeToMobileStamped(MobileToMaritime):