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publish with QoS reliable as default #1224

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Feb 18, 2021
Merged

publish with QoS reliable as default #1224

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aef8066
default to reliable publishers
Feb 9, 2021
c96e4cf
satisfy linter
Feb 10, 2021
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2 changes: 1 addition & 1 deletion gazebo_plugins/src/gazebo_ros_bumper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,7 +89,7 @@ void GazeboRosBumper::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _

// Contact state publisher
impl_->pub_ = impl_->ros_node_->create_publisher<gazebo_msgs::msg::ContactsState>(
"bumper_states", qos.get_publisher_qos("bumper_states", rclcpp::SensorDataQoS()));
"bumper_states", qos.get_publisher_qos("bumper_states", rclcpp::SensorDataQoS().reliable()));

RCLCPP_INFO(
impl_->ros_node_->get_logger(), "Publishing contact states to [%s]",
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21 changes: 10 additions & 11 deletions gazebo_plugins/src/gazebo_ros_camera.cpp
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Expand Up @@ -187,9 +187,8 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
const std::string camera_topic = impl_->camera_name_ + "/image_raw";
impl_->image_pub_.push_back(
image_transport::create_publisher(
impl_->ros_node_.get(),
camera_topic,
qos.get_publisher_qos(camera_topic, rclcpp::SensorDataQoS()).get_rmw_qos_profile()));
impl_->ros_node_.get(), camera_topic, qos.get_publisher_qos(
camera_topic, rclcpp::SensorDataQoS().reliable()).get_rmw_qos_profile()));

// TODO(louise) Uncomment this once image_transport::Publisher has a function to return the
// full topic.
Expand All @@ -201,7 +200,8 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
const std::string camera_info_topic = impl_->camera_name_ + "/camera_info";
impl_->camera_info_pub_.push_back(
impl_->ros_node_->create_publisher<sensor_msgs::msg::CameraInfo>(
camera_info_topic, qos.get_publisher_qos(camera_info_topic, rclcpp::SensorDataQoS())));
camera_info_topic, qos.get_publisher_qos(
camera_info_topic, rclcpp::SensorDataQoS().reliable())));

RCLCPP_INFO(
impl_->ros_node_->get_logger(), "Publishing camera info to [%s]",
Expand All @@ -214,9 +214,8 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
// Image publisher
impl_->image_pub_.push_back(
image_transport::create_publisher(
impl_->ros_node_.get(),
camera_topic,
qos.get_publisher_qos(camera_topic, rclcpp::SensorDataQoS()).get_rmw_qos_profile()));
impl_->ros_node_.get(), camera_topic, qos.get_publisher_qos(
camera_topic, rclcpp::SensorDataQoS().reliable()).get_rmw_qos_profile()));

// RCLCPP_INFO(
// impl_->ros_node_->get_logger(), "Publishing %s camera images to [%s]",
Expand All @@ -228,7 +227,8 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
// Camera info publisher
impl_->camera_info_pub_.push_back(
impl_->ros_node_->create_publisher<sensor_msgs::msg::CameraInfo>(
camera_info_topic, qos.get_publisher_qos(camera_info_topic, rclcpp::SensorDataQoS())));
camera_info_topic, qos.get_publisher_qos(
camera_info_topic, rclcpp::SensorDataQoS().reliable())));

RCLCPP_INFO(
impl_->ros_node_->get_logger(), "Publishing %s camera info to [%s]",
Expand All @@ -241,9 +241,8 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
const std::string depth_topic = impl_->camera_name_ + "/depth/image_raw";
// Depth image publisher
impl_->depth_image_pub_ = image_transport::create_publisher(
impl_->ros_node_.get(),
depth_topic,
qos.get_publisher_qos(depth_topic, rclcpp::SensorDataQoS()).get_rmw_qos_profile());
impl_->ros_node_.get(), depth_topic, qos.get_publisher_qos(
depth_topic, rclcpp::SensorDataQoS().reliable()).get_rmw_qos_profile());

// RCLCPP_INFO(impl_->ros_node_->get_logger(), "Publishing depth images to [%s]",
// impl_->depth_image_pub_.getTopic().c_str());
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2 changes: 1 addition & 1 deletion gazebo_plugins/src/gazebo_ros_gps_sensor.cpp
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Expand Up @@ -72,7 +72,7 @@ void GazeboRosGpsSensor::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPt
}

impl_->pub_ = impl_->ros_node_->create_publisher<sensor_msgs::msg::NavSatFix>(
"~/out", qos.get_publisher_qos("~/out", rclcpp::SensorDataQoS()));
"~/out", qos.get_publisher_qos("~/out", rclcpp::SensorDataQoS().reliable()));

// Create message to be reused
auto msg = std::make_shared<sensor_msgs::msg::NavSatFix>();
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2 changes: 1 addition & 1 deletion gazebo_plugins/src/gazebo_ros_imu_sensor.cpp
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Expand Up @@ -93,7 +93,7 @@ void GazeboRosImuSensor::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPt
}

impl_->pub_ = impl_->ros_node_->create_publisher<sensor_msgs::msg::Imu>(
"~/out", qos.get_publisher_qos("~/out", rclcpp::SensorDataQoS()));
"~/out", qos.get_publisher_qos("~/out", rclcpp::SensorDataQoS().reliable()));

// Create message to be reused
auto msg = std::make_shared<sensor_msgs::msg::Imu>();
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3 changes: 2 additions & 1 deletion gazebo_plugins/src/gazebo_ros_p3d.cpp
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Expand Up @@ -124,7 +124,8 @@ void GazeboRosP3D::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf)
}

impl_->pub_ = impl_->ros_node_->create_publisher<nav_msgs::msg::Odometry>(
impl_->topic_name_, qos.get_publisher_qos(impl_->topic_name_, rclcpp::SensorDataQoS()));
impl_->topic_name_, qos.get_publisher_qos(
impl_->topic_name_, rclcpp::SensorDataQoS().reliable()));
impl_->topic_name_ = impl_->pub_->get_topic_name();
RCLCPP_DEBUG(
impl_->ros_node_->get_logger(), "Publishing on topic [%s]", impl_->topic_name_.c_str());
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2 changes: 1 addition & 1 deletion gazebo_plugins/src/gazebo_ros_ray_sensor.cpp
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Expand Up @@ -107,7 +107,7 @@ void GazeboRosRaySensor::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPt
const gazebo_ros::QoS & qos = impl_->ros_node_->get_qos();

// Get QoS profile for the publisher
rclcpp::QoS pub_qos = qos.get_publisher_qos("~/out", rclcpp::SensorDataQoS());
rclcpp::QoS pub_qos = qos.get_publisher_qos("~/out", rclcpp::SensorDataQoS().reliable());

// Get tf frame for output
impl_->frame_name_ = gazebo_ros::SensorFrameID(*_sensor, *_sdf);
Expand Down