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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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14
src/core_pkg/core_pkg/core_node.py
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@@ -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