fix(autoware_radar_static_pointcloud_filter): use correct qos

Signed-off-by: Mehmet Emin BAŞOĞLU <mehmeteminbasoglu@hotmail.com>

Author: mebasoglu

sensing/autoware_radar_static_pointcloud_filter/config/radar_static_pointcloud_filter.param.yaml

@@ -1,3 +1,4 @@
 /**:
   ros__parameters:
     doppler_velocity_sd: 4.0
+    max_queue_size: 5

sensing/autoware_radar_static_pointcloud_filter/schema/radar_static_pointcloud_filter.schema.json

@@ -11,9 +11,15 @@
           "default": "4.0",
           "minimum": 0.0,
           "description": "Standard deviation for radar doppler velocity. [m/s]"
+        },
+        "max_queue_size": {
+          "type": "integer",
+          "default": "5",
+          "minimum": 1,
+          "description": "Max queue size of input/output topics."
         }
       },
-      "required": ["doppler_velocity_sd"]
+      "required": ["doppler_velocity_sd", "max_queue_size"]
     }
   },
   "properties": {

sensing/autoware_radar_static_pointcloud_filter/src/radar_static_pointcloud_filter_node.cpp

@@ -95,19 +95,26 @@ RadarStaticPointcloudFilterNode::RadarStaticPointcloudFilterNode(
 
   // Node Parameter
   node_param_.doppler_velocity_sd = declare_parameter<double>("doppler_velocity_sd");
+  node_param_.max_queue_size = declare_parameter<int64_t>("max_queue_size");
 
   // Subscriber
   transform_listener_ = std::make_shared<autoware_utils::TransformListener>(this);
 
-  sub_radar_.subscribe(this, "~/input/radar", rclcpp::QoS{1}.get_rmw_qos_profile());
-  sub_odometry_.subscribe(this, "~/input/odometry", rclcpp::QoS{1}.get_rmw_qos_profile());
+  sub_radar_.subscribe(
+    this, "~/input/radar",
+    rclcpp::SensorDataQoS().keep_last(node_param_.max_queue_size).get_rmw_qos_profile());
+  sub_odometry_.subscribe(
+    this, "~/input/odometry",
+    rclcpp::SensorDataQoS().keep_last(node_param_.max_queue_size).get_rmw_qos_profile());
 
   sync_ptr_ = std::make_shared<Sync>(SyncPolicy(10), sub_radar_, sub_odometry_);
   sync_ptr_->registerCallback(std::bind(&RadarStaticPointcloudFilterNode::onData, this, _1, _2));
 
   // Publisher
-  pub_static_radar_ = create_publisher<RadarScan>("~/output/static_radar_scan", 1);
-  pub_dynamic_radar_ = create_publisher<RadarScan>("~/output/dynamic_radar_scan", 1);
+  pub_static_radar_ = create_publisher<RadarScan>(
+    "~/output/static_radar_scan", rclcpp::SensorDataQoS().keep_last(node_param_.max_queue_size));
+  pub_dynamic_radar_ = create_publisher<RadarScan>(
+    "~/output/dynamic_radar_scan", rclcpp::SensorDataQoS().keep_last(node_param_.max_queue_size));
 }
 
 rcl_interfaces::msg::SetParametersResult RadarStaticPointcloudFilterNode::onSetParam(
@@ -117,6 +124,7 @@ rcl_interfaces::msg::SetParametersResult RadarStaticPointcloudFilterNode::onSetP
   try {
     auto & p = node_param_;
     update_param(params, "doppler_velocity_sd", p.doppler_velocity_sd);
+    update_param(params, "max_queue_size", p.max_queue_size);
   } catch (const rclcpp::exceptions::InvalidParameterTypeException & e) {
     result.successful = false;
     result.reason = e.what();

sensing/autoware_radar_static_pointcloud_filter/src/radar_static_pointcloud_filter_node.hpp

@@ -45,6 +45,7 @@ class RadarStaticPointcloudFilterNode : public rclcpp::Node
   struct NodeParam
   {
     double doppler_velocity_sd{};
+    size_t max_queue_size{};
   };
 
 private: