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add qos profile sensor data

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Sem van der Hoeven
2023-05-22 14:34:47 +02:00
parent ff5b900fd1
commit 3cea683760
1 changed files with 3 additions and 2 deletions
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src/drone_status/drone_status/drone_status.py
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@@ -1,5 +1,6 @@
import rclpy import rclpy
from rclpy.node import Node from rclpy.node import Node
from rclpy.qos.QoSPresetProfiles import qos_profile_sensor_data
from drone_services.msg import DroneStatus from drone_services.msg import DroneStatus
from drone_services.msg import DroneControlMode from drone_services.msg import DroneControlMode
@@ -26,9 +27,9 @@ 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, 10) BatteryStatus, '/fmu/out/battery_status', self.battery_status_callback,qos_profile=qos_profile_sensor_data)
self.cpu_load_subscriber = self.create_subscription( self.cpu_load_subscriber = self.create_subscription(
Cpuload, '/fmu/out/cpuload', self.cpu_load_callback, 10) Cpuload, '/fmu/out/cpuload', self.cpu_load_callback,qos_profile=qos_profile_sensor_data)
# 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