diff --git a/sensing/imu_corrector/src/imu_corrector_core.cpp b/sensing/imu_corrector/src/imu_corrector_core.cpp index 8c2cecac89b00..a26c64925729c 100644 --- a/sensing/imu_corrector/src/imu_corrector_core.cpp +++ b/sensing/imu_corrector/src/imu_corrector_core.cpp @@ -72,7 +72,7 @@ ImuCorrector::ImuCorrector() accel_stddev_imu_link_ = declare_parameter<double>("acceleration_stddev", 10000.0); imu_sub_ = create_subscription<sensor_msgs::msg::Imu>( - "input", rclcpp::SensorDataQoS().keep_last(1), std::bind(&ImuCorrector::callbackImu, this, std::placeholders::_1)); + "input", rclcpp::QoS{1}, std::bind(&ImuCorrector::callbackImu, this, std::placeholders::_1)); imu_pub_ = create_publisher<sensor_msgs::msg::Imu>("output", rclcpp::QoS{10}); }