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Fix fake amcl topic (QoS Durability) #52

Merged

jlblancoc merged 1 commit into MRPT:develop from finani:fix-fake-amcl

Aug 19, 2024

Contributor

finani commented Aug 19, 2024

QoS Durability of amcl_pose topic should be TRANSIENT_LOCAL for nav2 compatibility.

So I changed the durability from volatile to transient_local.

ros2 topic info /amcl_pose -v

before

Node name: mvsim
Node namespace: /
Topic type: geometry_msgs/msg/PoseWithCovarianceStamped
Endpoint type: PUBLISHER
GID: 01.0f.00.01.ea.10.be.36.00.00.00.00.00.00.1d.03.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  History (Depth): UNKNOWN
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

after

Node name: mvsim
Node namespace: /
Topic type: geometry_msgs/msg/PoseWithCovarianceStamped
Endpoint type: PUBLISHER
GID: 01.0f.00.01.b7.1a.6c.9f.00.00.00.00.00.00.1d.03.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  History (Depth): UNKNOWN
  Durability: TRANSIENT_LOCAL
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite


          fix fake amcl topics

031817a

jlblancoc merged commit 554a4d8 into MRPT:develop

5 checks passed

finani deleted the fix-fake-amcl branch

August 19, 2024 03:23

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