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change qos

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Sem van der Hoeven
2023-05-22 14:43:53 +02:00
parent 45fed345d4
commit 3bfb61f29d
1 changed files with 9 additions and 3 deletions
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12
src/drone_status/drone_status/drone_status.py
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@@ -1,6 +1,6 @@
import rclpy import rclpy
from rclpy.node import Node from rclpy.node import Node
from rclpy.qos import QoSPresetProfiles from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy, QoSDurabilityPolicy
from drone_services.msg import DroneStatus from drone_services.msg import DroneStatus
from drone_services.msg import DroneControlMode from drone_services.msg import DroneControlMode
@@ -17,6 +17,12 @@ CONTROL_MODE_POSITION = 3
class DroneStatusNode(Node): class DroneStatusNode(Node):
def __init__(self): def __init__(self):
super().__init__('drone_status') super().__init__('drone_status')
qos_profile = QoSProfile(
reliability=QoSReliabilityPolicy.RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT,
durability=QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
history=QoSHistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_LAST,
depth=1
)
# publish to drone/status topic # publish to drone/status topic
self.publisher = self.create_publisher( self.publisher = self.create_publisher(
DroneStatus, '/drone/status', 10) DroneStatus, '/drone/status', 10)
@@ -27,9 +33,9 @@ class DroneStatusNode(Node):
self.route_status_subscriber = self.create_subscription( self.route_status_subscriber = self.create_subscription(
DroneRouteStatus, '/drone/route_status', self.route_status_callback, 10) DroneRouteStatus, '/drone/route_status', self.route_status_callback, 10)
self.battery_status_subscriber = self.create_subscription( self.battery_status_subscriber = self.create_subscription(
BatteryStatus, '/fmu/out/battery_status', self.battery_status_callback,qos_profile=QoSPresetProfiles.SENSOR_DATA) BatteryStatus, '/fmu/out/battery_status', self.battery_status_callback, qos_profile=qos_profile)
self.cpu_load_subscriber = self.create_subscription( self.cpu_load_subscriber = self.create_subscription(
Cpuload, '/fmu/out/cpuload', self.cpu_load_callback,qos_profile=QoSPresetProfiles.SENSOR_DATA) Cpuload, '/fmu/out/cpuload', self.cpu_load_callback, qos_profile=qos_profile)
# publish every 0.5 seconds # publish every 0.5 seconds
self.timer = self.create_timer(0.5, self.publish_status) self.timer = self.create_timer(0.5, self.publish_status)
self.armed = False self.armed = False