fix: fix internal door interface qos (autowarefoundation#9144)

Signed-off-by: Takagi, Isamu <[email protected]>
tier4 · Nov 7, 2024 · 787f215 · 787f215
1 parent 8f03868
commit 787f215
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/common/component_interface_specs/include/component_interface_specs/vehicle.hpp b/common/component_interface_specs/include/component_interface_specs/vehicle.hpp
@@ -92,7 +92,7 @@ struct DoorStatus
   static constexpr char name[] = "/vehicle/doors/status";
   static constexpr size_t depth = 1;
   static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
-  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
 }  // namespace vehicle_interface

diff --git a/simulator/vehicle_door_simulator/src/dummy_doors.cpp b/simulator/vehicle_door_simulator/src/dummy_doors.cpp
@@ -29,7 +29,8 @@ DummyDoors::DummyDoors() : Node("dummy_doors")
   srv_layout_ = create_service<GetDoorLayout>(
     "~/doors/layout", std::bind(&DummyDoors::on_layout, this, _1, _2));
 
-  pub_status_ = create_publisher<DoorStatusArray>("~/doors/status", rclcpp::QoS(1));
+  pub_status_ =
+    create_publisher<DoorStatusArray>("~/doors/status", rclcpp::QoS(1).transient_local());
 
   const auto period = rclcpp::Rate(5.0).period();
   timer_ = rclcpp::create_timer(this, get_clock(), period, [this]() { on_timer(); });