Enable CongestionControl::Block if QoS is reliable.

Signed-off-by: ChenYing Kuo <[email protected]>
ZettaScaleLabs · Nov 22, 2024 · 358716c · 358716c
1 parent b485a93
commit 358716c
Showing 1 changed file with 1 addition and 4 deletions.
diff --git a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
@@ -147,10 +147,7 @@ std::shared_ptr<PublisherData> PublisherData::make(
 
   if (adapted_qos_profile.reliability == RMW_QOS_POLICY_RELIABILITY_RELIABLE) {
     opts.reliability = Z_RELIABILITY_RELIABLE;
-
-    if (adapted_qos_profile.history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
-      opts.congestion_control = Z_CONGESTION_CONTROL_BLOCK;
-    }
+    opts.congestion_control = Z_CONGESTION_CONTROL_BLOCK;
   }
   z_owned_publisher_t pub;
   // TODO(clalancette): What happens if the key name is a valid but empty string?