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refactor: remedy QoS profiles

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This commit is contained in:
David Sharpe
2026-03-08 03:57:28 -05:00
parent aaf40124fa
commit 62fd1b110d
3 changed files with 20 additions and 27 deletions
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24
src/arm_pkg/arm_pkg/arm_node.py
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@@ -14,16 +14,16 @@ from control_msgs.msg import JointJog
from astra_msgs.msg import SocketFeedback, DigitFeedback, ArmManual
from astra_msgs.msg import ArmFeedback, VicCAN, RevMotorState
# control_qos = qos.QoSProfile(
# history=qos.QoSHistoryPolicy.KEEP_LAST,
# depth=1,
# reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
# durability=qos.QoSDurabilityPolicy.VOLATILE,
# deadline=1000,
# lifespan=500,
# liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
# liveliness_lease_duration=5000
# )
control_qos = qos.QoSProfile(
history=qos.QoSHistoryPolicy.KEEP_LAST,
depth=2,
reliability=qos.QoSReliabilityPolicy.BEST_EFFORT, # Best Effort subscribers are still compatible with Reliable publishers
durability=qos.QoSDurabilityPolicy.VOLATILE,
# deadline=Duration(seconds=1),
# lifespan=Duration(nanoseconds=500_000_000), # 500ms
# liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
# liveliness_lease_duration=Duration(seconds=5),
)
thread = None
@@ -112,11 +112,11 @@ class ArmNode(Node):
# Manual: /arm/manual_new is published by Servo or Basestation
self.jointjog_pub_ = self.create_subscription(
JointJog, "/arm/manual_new", self.jointjog_callback, 1
JointJog, "/arm/manual_new", self.jointjog_callback, qos_profile=control_qos
)
# IK: /joint_commands is published by JointTrajectoryController via topic_based_control
self.joint_command_sub_ = self.create_subscription(
JointState, "/joint_commands", self.joint_command_callback, 1
JointState, "/joint_commands", self.joint_command_callback, qos_profile=control_qos
)
# Feedback