From 3465687027471419acb1e425d2e22ca02a360925 Mon Sep 17 00:00:00 2001
From: Ignacio Vizzo <ignaciovizzo@gmail.com>
Date: Thu, 23 Nov 2023 18:55:11 +0100
Subject: [PATCH] Nacho/re enable ipc (#253)

* Add composable launch example

* Use SensorDataQoS() as default to enable IPC

* Change rviz configuration

* Use `unique_ptr` to allow for true IPC

* Move component registration to translation unit

It's the same but seems to be a more common practice in ROS 2 codebases

* Fix sytle

* Delete unnecessary unique_ptrs after PR conversation
---
 ros/ros2/OdometryServer.cpp |  5 ++++-
 ros/ros2/OdometryServer.hpp |  7 -------
 ros/rviz/kiss_icp_ros2.rviz | 10 +++++-----
 3 files changed, 9 insertions(+), 13 deletions(-)

diff --git a/ros/ros2/OdometryServer.cpp b/ros/ros2/OdometryServer.cpp
index dfd8b1d3..0ddedb95 100644
--- a/ros/ros2/OdometryServer.cpp
+++ b/ros/ros2/OdometryServer.cpp
@@ -81,7 +81,7 @@ OdometryServer::OdometryServer(const rclcpp::NodeOptions &options)
         std::bind(&OdometryServer::RegisterFrame, this, std::placeholders::_1));
 
     // Initialize publishers
-    rclcpp::QoS qos((rclcpp::SystemDefaultsQoS()));
+    rclcpp::QoS qos((rclcpp::SystemDefaultsQoS().keep_last(1).durability_volatile()));
     odom_publisher_ = create_publisher<nav_msgs::msg::Odometry>("/kiss/odometry", qos);
     traj_publisher_ = create_publisher<nav_msgs::msg::Path>("/kiss/trajectory", qos);
     path_msg_.header.frame_id = odom_frame_;
@@ -214,3 +214,6 @@ void OdometryServer::PublishClouds(const std::vector<Eigen::Vector3d> frame,
     }
 }
 }  // namespace kiss_icp_ros
+
+#include "rclcpp_components/register_node_macro.hpp"
+RCLCPP_COMPONENTS_REGISTER_NODE(kiss_icp_ros::OdometryServer)
diff --git a/ros/ros2/OdometryServer.hpp b/ros/ros2/OdometryServer.hpp
index 13726d3a..418e0d2c 100644
--- a/ros/ros2/OdometryServer.hpp
+++ b/ros/ros2/OdometryServer.hpp
@@ -94,10 +94,3 @@ class OdometryServer : public rclcpp::Node {
 };
 
 }  // namespace kiss_icp_ros
-
-#include "rclcpp_components/register_node_macro.hpp"
-
-// Register the component with class_loader.
-// This acts as a sort of entry point, allowing the component to be
-// discoverable when its library is being loaded into a running process.
-RCLCPP_COMPONENTS_REGISTER_NODE(kiss_icp_ros::OdometryServer)
diff --git a/ros/rviz/kiss_icp_ros2.rviz b/ros/rviz/kiss_icp_ros2.rviz
index e2949cc4..918ff216 100644
--- a/ros/rviz/kiss_icp_ros2.rviz
+++ b/ros/rviz/kiss_icp_ros2.rviz
@@ -58,7 +58,7 @@ Visualization Manager:
             Durability Policy: Volatile
             Filter size: 10
             History Policy: Keep Last
-            Reliability Policy: Reliable
+            Reliability Policy: Best Effort
             Value: /kiss/frame
           Use Fixed Frame: true
           Use rainbow: true
@@ -92,7 +92,7 @@ Visualization Manager:
             Durability Policy: Volatile
             Filter size: 10
             History Policy: Keep Last
-            Reliability Policy: Reliable
+            Reliability Policy: Best Effort
             Value: /kiss/keypoints
           Use Fixed Frame: true
           Use rainbow: true
@@ -126,7 +126,7 @@ Visualization Manager:
             Durability Policy: Volatile
             Filter size: 10
             History Policy: Keep Last
-            Reliability Policy: Reliable
+            Reliability Policy: Best Effort
             Value: /kiss/local_map
           Use Fixed Frame: true
           Use rainbow: true
@@ -171,7 +171,7 @@ Visualization Manager:
             Durability Policy: Volatile
             Filter size: 10
             History Policy: Keep Last
-            Reliability Policy: Reliable
+            Reliability Policy: Best Effort
             Value: /kiss/odometry
           Value: true
         - Alpha: 1
@@ -199,7 +199,7 @@ Visualization Manager:
             Durability Policy: Volatile
             Filter size: 10
             History Policy: Keep Last
-            Reliability Policy: Reliable
+            Reliability Policy: Best Effort
             Value: /kiss/trajectory
           Value: true
       Enabled: true