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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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22
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 SocketFeedback, DigitFeedback, ArmManual
from astra_msgs.msg import ArmFeedback, VicCAN, RevMotorState from astra_msgs.msg import ArmFeedback, VicCAN, RevMotorState
# control_qos = qos.QoSProfile( control_qos = qos.QoSProfile(
# history=qos.QoSHistoryPolicy.KEEP_LAST, history=qos.QoSHistoryPolicy.KEEP_LAST,
# depth=1, depth=2,
# reliability=qos.QoSReliabilityPolicy.BEST_EFFORT, reliability=qos.QoSReliabilityPolicy.BEST_EFFORT, # Best Effort subscribers are still compatible with Reliable publishers
# durability=qos.QoSDurabilityPolicy.VOLATILE, durability=qos.QoSDurabilityPolicy.VOLATILE,
# deadline=1000, # deadline=Duration(seconds=1),
# lifespan=500, # lifespan=Duration(nanoseconds=500_000_000), # 500ms
# liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT, # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
# liveliness_lease_duration=5000 # liveliness_lease_duration=Duration(seconds=5),
# ) )
thread = None thread = None
@@ -112,11 +112,11 @@ class ArmNode(Node):
# Manual: /arm/manual_new is published by Servo or Basestation # Manual: /arm/manual_new is published by Servo or Basestation
self.jointjog_pub_ = self.create_subscription( 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 # IK: /joint_commands is published by JointTrajectoryController via topic_based_control
self.joint_command_sub_ = self.create_subscription( 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 # Feedback

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 CORE_GEAR_RATIO = 100.0 # Clucky: 100:1, Testbed: 64:1
control_qos = qos.QoSProfile( control_qos = qos.QoSProfile(
# history=qos.QoSHistoryPolicy.KEEP_LAST, history=qos.QoSHistoryPolicy.KEEP_LAST,
depth=2, depth=2,
# reliability=qos.QoSReliabilityPolicy.BEST_EFFORT, reliability=qos.QoSReliabilityPolicy.BEST_EFFORT, # Best Effort subscribers are still compatible with Reliable publishers
# durability=qos.QoSDurabilityPolicy.VOLATILE, durability=qos.QoSDurabilityPolicy.VOLATILE,
# deadline=Duration(seconds=1), # deadline=Duration(seconds=1),
# lifespan=Duration(nanoseconds=500_000_000), # 500ms # lifespan=Duration(nanoseconds=500_000_000), # 500ms
# liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT, # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,

17
src/headless_pkg/src/headless_node.py
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@@ -37,23 +37,16 @@ ARM_STOP_MSG = ArmManual() # "
BIO_STOP_MSG = BioControl() # " BIO_STOP_MSG = BioControl() # "
control_qos = qos.QoSProfile( control_qos = qos.QoSProfile(
# history=qos.QoSHistoryPolicy.KEEP_LAST, history=qos.QoSHistoryPolicy.KEEP_LAST,
depth=2, depth=2,
# reliability=qos.QoSReliabilityPolicy.BEST_EFFORT, reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
# durability=qos.QoSDurabilityPolicy.VOLATILE, durability=qos.QoSDurabilityPolicy.VOLATILE,
# deadline=Duration(seconds=1), # deadline=Duration(seconds=1),
# lifespan=Duration(nanoseconds=500_000_000), # 500ms # lifespan=Duration(nanoseconds=500_000_000), # 500ms
# liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT, # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
# liveliness_lease_duration=Duration(seconds=5), # 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")) STICK_DEADZONE = float(os.getenv("STICK_DEADZONE", "0.05"))
@@ -187,10 +180,10 @@ class Headless(Node):
) )
self.arm_ik_twist_publisher = self.create_publisher( 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( 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
) )
################################################## ##################################################