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disable intraprocess for transient local topics #193

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disable intraprocess for transient local topics #193

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4 changes: 3 additions & 1 deletion ouster-ros/src/os_processing_node_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,8 +16,10 @@ void OusterProcessingNodeBase::create_metadata_subscriber(
auto latching_qos = rclcpp::QoS(rclcpp::KeepLast(1));
latching_qos.reliability(RMW_QOS_POLICY_RELIABILITY_RELIABLE);
latching_qos.durability(RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
rclcpp::SubscriptionOptions subscription_options;
subscription_options.use_intra_process_comm = rclcpp::IntraProcessSetting::Disable;
metadata_sub = create_subscription<std_msgs::msg::String>(
"metadata", latching_qos, on_sensor_metadata);
"metadata", latching_qos, on_sensor_metadata, subscription_options);
}

} // namespace ouster_ros
4 changes: 3 additions & 1 deletion ouster-ros/src/os_sensor_node_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,8 +34,10 @@ void OusterSensorNodeBase::create_metadata_publisher() {
auto latching_qos = rclcpp::QoS(rclcpp::KeepLast(1));
latching_qos.reliability(RMW_QOS_POLICY_RELIABILITY_RELIABLE);
latching_qos.durability(RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
rclcpp::PublisherOptions publisher_options;
publisher_options.use_intra_process_comm = rclcpp::IntraProcessSetting::Disable;
metadata_pub =
create_publisher<std_msgs::msg::String>("metadata", latching_qos);
create_publisher<std_msgs::msg::String>("metadata", latching_qos, publisher_options);
}

void OusterSensorNodeBase::publish_metadata() {
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