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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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17
src/headless_pkg/src/headless_node.py
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@@ -37,23 +37,16 @@ ARM_STOP_MSG = ArmManual() # "
BIO_STOP_MSG = BioControl() # "
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,
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),
)
arm_ik_qos = qos.QoSProfile(
history=qos.QoSHistoryPolicy.KEEP_LAST,
depth=1,
reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
durability=qos.QoSDurabilityPolicy.VOLATILE,
)
STICK_DEADZONE = float(os.getenv("STICK_DEADZONE", "0.05"))
@@ -187,10 +180,10 @@ class Headless(Node):
)
self.arm_ik_twist_publisher = self.create_publisher(
TwistStamped, "/servo_node/delta_twist_cmds", arm_ik_qos
TwistStamped, "/servo_node/delta_twist_cmds", qos_profile=control_qos
)
self.arm_ik_jointjog_publisher = self.create_publisher(
JointJog, "/servo_node/delta_joint_cmds", arm_ik_qos
JointJog, "/servo_node/delta_joint_cmds", qos_profile=control_qos
)
##################################################