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fix: make QoS compatible with basestation-game

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David
2026-01-31 17:21:52 -06:00
parent 4a98c3d435
commit 9fc120b09e
4 changed files with 16 additions and 16 deletions
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2
src/arm_pkg/arm_pkg/arm_node.py
View File

@@ -49,7 +49,7 @@ class SerialRelay(Node):
# Create subscribers
self.man_sub = self.create_subscription(
ArmManual, "/arm/control/manual", self.send_manual, 10
ArmManual, "/arm/control/manual", self.send_manual, 2
)
# New messages

2
src/astra_msgs

Submodule src/astra_msgs updated: 6a57072723...2840bfef34

14
src/core_pkg/core_pkg/core_node.py
View File

@@ -31,14 +31,14 @@ 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,
deadline=Duration(seconds=1),
lifespan=Duration(nanoseconds=500_000_000), # 500ms
liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
liveliness_lease_duration=Duration(seconds=5),
# 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),
)
# Used to verify the length of an incoming VicCAN feedback message

14
src/headless_pkg/src/headless_node.py
View File

@@ -35,14 +35,14 @@ 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,
deadline=Duration(seconds=1),
lifespan=Duration(nanoseconds=500_000_000), # 500ms
liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
liveliness_lease_duration=Duration(seconds=5),
# 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),
)
CORE_MODE = "twist" # "twist" or "duty"