feat(pointcloud_preprocessor): runtime configurable output topic qos

ralwing · ralwing · commit 5e457150c8b2 · 2024-05-22T14:21:35.000+02:00
Signed-off-by: Grzegorz Głowacki &lt;gglowacki@autonomous-systems.pl&gt;
diff --git a/sensing/pointcloud_preprocessor/src/filter.cpp b/sensing/pointcloud_preprocessor/src/filter.cpp
@@ -89,8 +89,11 @@ pointcloud_preprocessor::Filter::Filter(
 
   // Set publisher
   {
+    rclcpp::PublisherOptions pub_options;
+    pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
+
     pub_output_ = this->create_publisher<PointCloud2>(
-      "output", rclcpp::SensorDataQoS().keep_last(max_queue_size_));
+      "output", rclcpp::SensorDataQoS().keep_last(max_queue_size_), pub_options);
   }
 
   subscribe(filter_name);

Original file line number	Diff line number	Diff line change
`@@ -89,8 +89,11 @@ pointcloud_preprocessor::Filter::Filter(`
`89`	`89`
`90`	`90`	`// Set publisher`
`91`	`91`	`{`
	`92`	`+ rclcpp::PublisherOptions pub_options;`
	`93`	`+ pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();`
	`94`	`+`
`92`	`95`	`pub_output_ = this->create_publisher<PointCloud2>(`
`93`		`- "output", rclcpp::SensorDataQoS().keep_last(max_queue_size_));`
	`96`	`+ "output", rclcpp::SensorDataQoS().keep_last(max_queue_size_), pub_options);`
`94`	`97`	`}`
`95`	`98`
`96`	`99`	`subscribe(filter_name);`