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refactor: remedy QoS profiles

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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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6
src/core_pkg/core_pkg/core_node.py
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@@ -31,10 +31,10 @@ CORE_WHEEL_RADIUS = 0.171 # meters
CORE_GEAR_RATIO = 100.0 # Clucky: 100:1, Testbed: 64:1
control_qos = qos.QoSProfile(
# history=qos.QoSHistoryPolicy.KEEP_LAST,
history=qos.QoSHistoryPolicy.KEEP_LAST,
depth=2,
# reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
# durability=qos.QoSDurabilityPolicy.VOLATILE,
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,