From 2d258b3103e55ab0bf38226d5caa37305b701c13 Mon Sep 17 00:00:00 2001 From: David Date: Tue, 14 Oct 2025 13:45:10 -0500 Subject: [PATCH] refactor: new feedback topics use default sensor data QoS --- src/core_pkg/core_pkg/core_node.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/core_pkg/core_pkg/core_node.py b/src/core_pkg/core_pkg/core_node.py index 0bdb13e..0188be6 100644 --- a/src/core_pkg/core_pkg/core_node.py +++ b/src/core_pkg/core_pkg/core_node.py @@ -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"