From 43118da8ae6ff2879610ab7ec6f6b7f5d3f3f7d3 Mon Sep 17 00:00:00 2001 From: jchiedrap Date: Fri, 8 Mar 2024 23:50:45 -0500 Subject: [PATCH 1/3] set reliability --- ros_tcp_endpoint/subscriber.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ros_tcp_endpoint/subscriber.py b/ros_tcp_endpoint/subscriber.py index c5b2eee..57d70e0 100644 --- a/ros_tcp_endpoint/subscriber.py +++ b/ros_tcp_endpoint/subscriber.py @@ -42,8 +42,9 @@ def __init__(self, topic, message_class, tcp_server, queue_size=10): self.msg = message_class self.tcp_server = tcp_server self.queue_size = queue_size + qos_profile.reliability = QoSReliabilityPolicy.BEST_EFFORT - qos_profile = QoSProfile(depth=queue_size) + qos_profile = QoSProfile(depth=queue_size, reliable=QoSReliabilityPolicy.BEST_EFFORT) # Start Subscriber listener function self.subscription = self.create_subscription( From d537a26e7c1d75ab549f1c3effde2a44c8b65aa6 Mon Sep 17 00:00:00 2001 From: jchiedrap Date: Sat, 9 Mar 2024 16:04:28 -0500 Subject: [PATCH 2/3] remove preemtive init --- ros_tcp_endpoint/subscriber.py | 1 - 1 file changed, 1 deletion(-) diff --git a/ros_tcp_endpoint/subscriber.py b/ros_tcp_endpoint/subscriber.py index 57d70e0..eee25e9 100644 --- a/ros_tcp_endpoint/subscriber.py +++ b/ros_tcp_endpoint/subscriber.py @@ -42,7 +42,6 @@ def __init__(self, topic, message_class, tcp_server, queue_size=10): self.msg = message_class self.tcp_server = tcp_server self.queue_size = queue_size - qos_profile.reliability = QoSReliabilityPolicy.BEST_EFFORT qos_profile = QoSProfile(depth=queue_size, reliable=QoSReliabilityPolicy.BEST_EFFORT) From 5fb511bfd9a465e922b2484d115dab68824d6e9c Mon Sep 17 00:00:00 2001 From: jchiedrap Date: Sat, 9 Mar 2024 16:49:10 -0500 Subject: [PATCH 3/3] re-add BEST_EFFORT after --- ros_tcp_endpoint/subscriber.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ros_tcp_endpoint/subscriber.py b/ros_tcp_endpoint/subscriber.py index eee25e9..d1de6cf 100644 --- a/ros_tcp_endpoint/subscriber.py +++ b/ros_tcp_endpoint/subscriber.py @@ -43,7 +43,8 @@ def __init__(self, topic, message_class, tcp_server, queue_size=10): self.tcp_server = tcp_server self.queue_size = queue_size - qos_profile = QoSProfile(depth=queue_size, reliable=QoSReliabilityPolicy.BEST_EFFORT) + qos_profile = QoSProfile(depth=queue_size) + qos_profile.reliability = QoSReliabilityPolicy.BEST_EFFORT # Start Subscriber listener function self.subscription = self.create_subscription(