Skip to content

Enable qos overriding for the output topic #255

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
jonbinney merged 1 commit into from
Apr 3, 2026
Merged

Enable qos overriding for the output topic #255

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 3 additions & 1 deletion src/generic_laser_filter_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -89,7 +89,9 @@ class GenericLaserScanFilterNode
tf_filter_.setTolerance(0.03s);

// Advertise output
output_pub_ = nh_->create_publisher<sensor_msgs::msg::LaserScan>("output", 1000);
rclcpp::PublisherOptions pub_options;
pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
output_pub_ = nh_->create_publisher<sensor_msgs::msg::LaserScan>("output", 1000, pub_options);

std::function<void(const sensor_msgs::msg::LaserScan::SharedPtr)> standard_callback =
std::bind(&GenericLaserScanFilterNode::foo, this, std::placeholders::_1);
Expand Down
7 changes: 4 additions & 3 deletions src/scan_to_cloud_filter_chain.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -88,9 +88,10 @@ ScanToCloudFilterChain::ScanToCloudFilterChain(
this->get_node_timers_interface());
buffer_.setCreateTimerInterface(timer_interface);

rclcpp::PublisherOptions pub_options;
pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
#ifdef RCLCPP_SUPPORTS_MATCHED_CALLBACKS
if (lazy_subscription_) {
rclcpp::PublisherOptions pub_options;
pub_options.event_callbacks.matched_callback =
[this](rclcpp::MatchedInfo & s)
{
Expand All @@ -103,11 +104,11 @@ ScanToCloudFilterChain::ScanToCloudFilterChain(
cloud_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>(
"cloud_filtered", 10, pub_options);
} else {
cloud_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("cloud_filtered", 10);
cloud_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("cloud_filtered", 10, pub_options);
scan_sub_.subscribe(this, "scan", rclcpp::SensorDataQoS());
}
#else
cloud_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("cloud_filtered", 10);
cloud_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("cloud_filtered", 10, pub_options);
scan_sub_.subscribe(this, "scan", rclcpp::SensorDataQoS());
#endif

Expand Down
7 changes: 4 additions & 3 deletions src/scan_to_scan_filter_chain.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -92,9 +92,10 @@ ScanToScanFilterChain::ScanToScanFilterChain(
std::placeholders::_1));
}

rclcpp::PublisherOptions pub_options;
pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
#ifdef RCLCPP_SUPPORTS_MATCHED_CALLBACKS
if (lazy_subscription_) {
rclcpp::PublisherOptions pub_options;
pub_options.event_callbacks.matched_callback =
[this](rclcpp::MatchedInfo & s)
{
Expand All @@ -108,12 +109,12 @@ ScanToScanFilterChain::ScanToScanFilterChain(
"scan_filtered", scan_filtered_history_depth_, pub_options);
} else {
output_pub_ = this->create_publisher<sensor_msgs::msg::LaserScan>(
"scan_filtered", scan_filtered_history_depth_);
"scan_filtered", scan_filtered_history_depth_, pub_options);
scan_sub_.subscribe(this, "scan", rclcpp::SensorDataQoS());
}
#else
output_pub_ = this->create_publisher<sensor_msgs::msg::LaserScan>(
"scan_filtered", scan_filtered_history_depth_);
"scan_filtered", scan_filtered_history_depth_, pub_options);
scan_sub_.subscribe(this, "scan", rclcpp::SensorDataQoS());
#endif
}
Expand Down
Loading