feat(pointcloud_preprocessor): runtime configurable output topic qos

Signed-off-by: Grzegorz Głowacki <[email protected]>
ralwing · May 22, 2024 · 5e45715 · 5e45715
1 parent 8265f93
commit 5e45715
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/sensing/pointcloud_preprocessor/src/filter.cpp b/sensing/pointcloud_preprocessor/src/filter.cpp
@@ -89,8 +89,11 @@ pointcloud_preprocessor::Filter::Filter(
 
   // Set publisher
   {
+    rclcpp::PublisherOptions pub_options;
+    pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
+
     pub_output_ = this->create_publisher<PointCloud2>(
-      "output", rclcpp::SensorDataQoS().keep_last(max_queue_size_));
+      "output", rclcpp::SensorDataQoS().keep_last(max_queue_size_), pub_options);
   }
 
   subscribe(filter_name);