Allow subscribing to any qos profile when creating a subscriber #690
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jtbandes
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jtbandes
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Dec 9, 2021
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Public API Changes
Subscriber QoS is automatically chosen based on available publishers to achieve compatible QoS settings in more cases.
Description
When looking into https://github.com/foxglove/studio/issues/1987 I discovered that rosbridge was not receiving "latched"
/tf_staticmessages. This led us to learn that subscribers need specific qos profile settings for certain publishers (ros2/ros2cli#523 (comment)).This PR attempts to use a qos profile that would accept any published message.
Closes #654
Closes #582
Fixes #551
/cc @kenji-miyake @MrBlenny @DomenicP