fix(tier4_state_rviz_plugin): qos (tier4#1085)

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
boyali · Oct 19, 2022 · 950661e · 950661e
1 parent c3cea1e
commit 950661e
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp
@@ -155,15 +155,15 @@ void AutowareStatePanel::onInitialize()
     "/api/autoware/set/emergency", rmw_qos_profile_services_default);
 
   pub_velocity_limit_ = raw_node_->create_publisher<tier4_planning_msgs::msg::VelocityLimit>(
-    "/planning/scenario_planning/max_velocity_default", rclcpp::QoS(1));
+    "/planning/scenario_planning/max_velocity_default", rclcpp::QoS{1}.transient_local());
 
   pub_gate_mode_ = raw_node_->create_publisher<tier4_control_msgs::msg::GateMode>(
-    "/control/gate_mode_cmd", rclcpp::QoS(1));
+    "/control/gate_mode_cmd", rclcpp::QoS{1}.transient_local());
 
   pub_path_change_approval_ = raw_node_->create_publisher<tier4_planning_msgs::msg::Approval>(
     "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/"
     "path_change_approval",
-    rclcpp::QoS(1));
+    rclcpp::QoS{1}.transient_local());
 }
 
 void AutowareStatePanel::onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg)