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Make transition event topic reliable to avoid topic lost #1171

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Make transition event topic reliable to avoid topic lost #1171

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19c7c4e
Make transition event topic reliable to avoid topic lost
kjjpc Jul 19, 2024
14a737f
Update rcl_lifecycle/src/com_interface.c
kjjpc Jul 22, 2024
aa503cd
Remove unnecessary qos setting of transition event topic
kjjpc Jul 22, 2024
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3 changes: 3 additions & 0 deletions rcl_lifecycle/src/com_interface.c
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Original file line number Diff line number Diff line change
Expand Up @@ -108,6 +108,9 @@ rcl_lifecycle_com_interface_publisher_init(

// initialize publisher
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
// 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;
Comment on lines +112 to +113
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Suggested change
publisher_options.qos.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
publisher_options.qos.depth = 1;
// 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;

changing publisher's QoS to transient local should not break any downstream subscriptions, https://docs.ros.org/en/rolling/Concepts/Intermediate/About-Quality-of-Service-Settings.html#id6.

IMO this transition event topic needs to be latched to deliver the latest state for the subscribers that join later. probably adding comments why we use transient local with depth 1 would be useful.

besides, Managed Node Design also says the following.

A topic should be provided to broadcast the new life cycle state when it changes. This topic must be latched.

rcl_ret_t ret = rcl_publisher_init(
&com_interface->pub_transition_event, node_handle,
ts_pub_notify, pub_transition_event_topic, &publisher_options);
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