From 9fc120b09ec1980417c42160fa4224ff4985d100 Mon Sep 17 00:00:00 2001 From: David Date: Sat, 31 Jan 2026 17:21:52 -0600 Subject: [PATCH] fix: make QoS compatible with basestation-game --- src/arm_pkg/arm_pkg/arm_node.py | 2 +- src/astra_msgs | 2 +- src/core_pkg/core_pkg/core_node.py | 14 +++++++------- src/headless_pkg/src/headless_node.py | 14 +++++++------- 4 files changed, 16 insertions(+), 16 deletions(-) diff --git a/src/arm_pkg/arm_pkg/arm_node.py b/src/arm_pkg/arm_pkg/arm_node.py index ab621a1..effa73e 100644 --- a/src/arm_pkg/arm_pkg/arm_node.py +++ b/src/arm_pkg/arm_pkg/arm_node.py @@ -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 diff --git a/src/astra_msgs b/src/astra_msgs index 6a57072..2840bfe 160000 --- a/src/astra_msgs +++ b/src/astra_msgs @@ -1 +1 @@ -Subproject commit 6a5707272398e364005ca2bfa17bea648f704b49 +Subproject commit 2840bfef34ba40f6c7c494891fde3478ff184de3 diff --git a/src/core_pkg/core_pkg/core_node.py b/src/core_pkg/core_pkg/core_node.py index 58b9b6c..b5ae8d8 100644 --- a/src/core_pkg/core_pkg/core_node.py +++ b/src/core_pkg/core_pkg/core_node.py @@ -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 diff --git a/src/headless_pkg/src/headless_node.py b/src/headless_pkg/src/headless_node.py index 50717c5..6c36c87 100755 --- a/src/headless_pkg/src/headless_node.py +++ b/src/headless_pkg/src/headless_node.py @@ -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"