From 8c01efeaf74fbcb78220d34868eeba2dc8b19c10 Mon Sep 17 00:00:00 2001 From: David Date: Sat, 18 Oct 2025 01:48:30 -0500 Subject: [PATCH] fix: make cmd_vel QoS compatible with everything else --- src/core_pkg/core_pkg/core_node.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/core_pkg/core_pkg/core_node.py b/src/core_pkg/core_pkg/core_node.py index 67caa51..b7ff0eb 100644 --- a/src/core_pkg/core_pkg/core_node.py +++ b/src/core_pkg/core_pkg/core_node.py @@ -81,7 +81,7 @@ class SerialRelay(Node): # Control # autonomy twist -- m/s and rad/s -- for autonomy, in particular Nav2 - self.cmd_vel_sub_ = self.create_subscription(TwistStamped, '/cmd_vel', self.cmd_vel_callback, qos_profile=control_qos) + self.cmd_vel_sub_ = self.create_subscription(TwistStamped, '/cmd_vel', self.cmd_vel_callback, 1) # manual twist -- [-1, 1] rather than real units self.twist_man_sub_ = self.create_subscription(Twist, '/core/twist', self.twist_man_callback, qos_profile=control_qos) # manual flags -- brake mode and max duty cycle