Update rcl_lifecycle/src/com_interface.c

Co-authored-by: Tomoya Fujita <[email protected]> Signed-off-by: Kuwada Junya <[email protected]>
ros2 · Jul 22, 2024 · a470a6f · a470a6f
1 parent 614c989
commit a470a6f
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/rcl_lifecycle/src/com_interface.c b/rcl_lifecycle/src/com_interface.c
@@ -109,6 +109,7 @@ rcl_lifecycle_com_interface_publisher_init(
   // initialize publisher
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
   publisher_options.qos.reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  // transition event topic needs to be latched for the subscription joins later.
   publisher_options.qos.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
   publisher_options.qos.depth = 1;
   rcl_ret_t ret = rcl_publisher_init(