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Merge branch 'main' into arm-topic-refactor

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David Sharpe
2026-03-08 03:56:25 -05:00
parent 294ae393de 3f68052144
commit aaf40124fa
4 changed files with 16 additions and 16 deletions
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14
src/headless_pkg/src/headless_node.py
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@@ -37,14 +37,14 @@ 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),
)
arm_ik_qos = qos.QoSProfile(