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refactor: new feedback topics use default sensor data QoS

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David
2025-10-14 13:45:10 -05:00
parent 86d01c29e3
commit 2d258b3103
1 changed files with 5 additions and 5 deletions
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10
src/core_pkg/core_pkg/core_node.py
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@@ -77,7 +77,7 @@ class SerialRelay(Node):
# Feedback
# Consolidated and organized core feedback
self.feedback_new_pub_ = self.create_publisher(NewCoreFeedback, '/core/feedback_new', 10)
self.feedback_new_pub_ = self.create_publisher(NewCoreFeedback, '/core/feedback_new', qos_profile=qos.qos_profile_sensor_data)
self.feedback_new_state = NewCoreFeedback()
self.feedback_new_state.fl_motor.id = 1
self.feedback_new_state.bl_motor.id = 2
@@ -85,20 +85,20 @@ class SerialRelay(Node):
self.feedback_new_state.br_motor.id = 4
self.telemetry_pub_timer = self.create_timer(1.0, self.publish_feedback) # TODO: not sure about this
# Joint states for topic-based controller
self.joint_state_pub_ = self.create_publisher(JointState, '/core/joint_states', 2)
self.joint_state_pub_ = self.create_publisher(JointState, '/core/joint_states', qos_profile=qos.qos_profile_sensor_data)
# IMU (embedded BNO-055)
self.imu_pub_ = self.create_publisher(Imu, '/core/imu', 10)
self.imu_pub_ = self.create_publisher(Imu, '/core/imu', qos_profile=qos.qos_profile_sensor_data)
self.imu_state = Imu()
self.imu_state.header.frame_id = "core_bno055"
# GPS (embedded u-blox M9N)
self.gps_pub_ = self.create_publisher(NavSatFix, '/gps/fix', 10)
self.gps_pub_ = self.create_publisher(NavSatFix, '/gps/fix', qos_profile=qos.qos_profile_sensor_data)
self.gps_state = NavSatFix()
self.gps_state.header.frame_id = "core_gps_antenna"
self.gps_state.status.service = NavSatStatus.SERVICE_GPS
self.gps_state.status.status = NavSatStatus.STATUS_NO_FIX
self.gps_state.position_covariance_type = NavSatFix.COVARIANCE_TYPE_UNKNOWN
# Barometer (embedded BMP-388)
self.baro_pub_ = self.create_publisher(Barometer, '/core/baro', 10)
self.baro_pub_ = self.create_publisher(Barometer, '/core/baro', qos_profile=qos.qos_profile_sensor_data)
self.baro_state = Barometer()
self.baro_state.header.frame_id = "core_bmp388"