From c26adc8d4340305ff5394091a3651a160e649826 Mon Sep 17 00:00:00 2001 From: Junya Kuwada Date: Fri, 19 Jul 2024 13:03:31 +0900 Subject: [PATCH] Make transition event topic reliable to avoid topic lost --- rcl_lifecycle/src/com_interface.c | 3 +++ 1 file changed, 3 insertions(+) diff --git a/rcl_lifecycle/src/com_interface.c b/rcl_lifecycle/src/com_interface.c index 5a2a37349..f70009ae1 100644 --- a/rcl_lifecycle/src/com_interface.c +++ b/rcl_lifecycle/src/com_interface.c @@ -108,6 +108,9 @@ 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; + publisher_options.qos.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; + publisher_options.qos.depth = 1; rcl_ret_t ret = rcl_publisher_init( &com_interface->pub_transition_event, node_handle, ts_pub_notify, pub_transition_event_topic, &publisher_options);