fix(vehicle_cmd_gate): change /autoware/engage/ to transient_local

tier4 · Jun 4, 2024 · 107c07d · 107c07d
1 parent 6664ec5
commit 107c07d
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/control/operation_mode_transition_manager/src/compatibility.cpp b/control/operation_mode_transition_manager/src/compatibility.cpp
@@ -31,7 +31,8 @@ Compatibility::Compatibility(rclcpp::Node * node) : node_(node)
     "/control/external_cmd_selector/current_selector_mode", 1,
     std::bind(&Compatibility::on_selector_mode, this, std::placeholders::_1));
 
-  pub_autoware_engage_ = node->create_publisher<AutowareEngage>("/autoware/engage", 1);
+  pub_autoware_engage_ =
+    node->create_publisher<AutowareEngage>("/autoware/engage", rclcpp::QoS(1).transient_local());
   pub_gate_mode_ = node->create_publisher<GateMode>("/control/gate_mode_cmd", 1);
   cli_selector_mode_ =
     node->create_client<SelectorModeSrv>("/control/external_cmd_selector/select_external_command");

diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
@@ -89,7 +89,8 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options)
   gate_mode_sub_ = create_subscription<GateMode>(
     "input/gate_mode", 1, std::bind(&VehicleCmdGate::onGateMode, this, _1));
   engage_sub_ = create_subscription<EngageMsg>(
-    "input/engage", 1, std::bind(&VehicleCmdGate::onEngage, this, _1));
+    "input/engage", rclcpp::QoS(1).transient_local(),
+    std::bind(&VehicleCmdGate::onEngage, this, _1));
   kinematics_sub_ = create_subscription<Odometry>(
     "/localization/kinematic_state", 1,
     [this](Odometry::SharedPtr msg) { current_kinematics_ = *msg; });