Change layer QoS policy#91
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josephduchesne merged 15 commits intoavidbots:ros2-humblefrom Dec 21, 2022
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Fix usage of get_parameter in YamlPreprocessor. Change integer in yaml out-file to floating point number (result of a calculation in lua).
This fixes a problem where rviz doesn't start on time to catch the publish of the layer markers.
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Important note: In order for this to work, we had to manually set the correct policy in Rviz too. For the map example, it is a dropdown under map settings. The selected policy should be changed to |
josephduchesne
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Dec 21, 2022
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This fix seems fine. In a production context I'd be a little worried about massive debug messages hanging around, but for the simulator I think it's acceptable. |
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A problem showed up during the migration of the
turtlebot_flatlandproject to Ros2: the World layer wasn't showing up.Apparently, in Ros1 the last x published messages would be saved for late-joining subscribers (not sure about the exact mechanic). In Ros2, this is a configurable setting managed with the new QoS settings, more specifically, the Durability setting.
The problem is caused by the
flatland_serverpublishing the layers' markers too fast for rviz to catch them.The small change in this commit (setting the durability QoS policy) fixes the problem, without resorting to always re-publishing layer information (currently it only publishes when there's a change).