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Fix for Quality of Service (QoS) settings incompatibility between Gazebo plugin and depthimage_to_laserscan package #74

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Fix for Quality of Service (QoS) settings incompatibility between Gazebo plugin and depthimage_to_laserscan package #74

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7 changes: 6 additions & 1 deletion src/DepthImageToLaserScanROS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,11 @@
namespace depthimage_to_laserscan{

DepthImageToLaserScanROS::DepthImageToLaserScanROS(const rclcpp::NodeOptions & options): rclcpp::Node("depthimage_to_laserscan", options){
auto qos = rclcpp:: SystemDefaultsQoS();
// auto qos = rclcpp:: SystemDefaultsQoS(); // Changed because depth camera publisher does not use RELIABLE (default) QoS but BestEffort
auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default));
qos.reliability(rclcpp::ReliabilityPolicy::BestEffort);


cam_info_sub_ = this->create_subscription<sensor_msgs::msg::CameraInfo>("depth_camera_info", qos,
std::bind(
&DepthImageToLaserScanROS::infoCb, this,
Expand Down Expand Up @@ -96,3 +100,4 @@ void DepthImageToLaserScanROS::depthCb(const sensor_msgs::msg::Image::SharedPtr
} // namespace depthimage_to_laserscan

RCLCPP_COMPONENTS_REGISTER_NODE(depthimage_to_laserscan::DepthImageToLaserScanROS)