From 45b390b0bfe21fc591b36ec898f6fc0791fc4729 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Thu, 17 Nov 2022 08:24:34 +0100 Subject: [PATCH] microdds: use UXR_DURABILITY_VOLATILE for data reader This corresponds to the ROS2 default. Using reader=TRANSIENT_LOCAL and writer=VOLATILE (=default) is incompatible according to https://docs.ros.org/en/rolling/Concepts/About-Quality-of-Service-Settings.html --- src/modules/microdds_client/utilities.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/microdds_client/utilities.hpp b/src/modules/microdds_client/utilities.hpp index 6244eb1adf..c5eb5c3a26 100644 --- a/src/modules/microdds_client/utilities.hpp +++ b/src/modules/microdds_client/utilities.hpp @@ -112,7 +112,7 @@ static bool create_data_reader(uxrSession *session, uxrStreamId reliable_out_str uxrObjectId datareader_id = uxr_object_id(id, UXR_DATAREADER_ID); uxrQoS_t qos = { - .durability = UXR_DURABILITY_TRANSIENT_LOCAL, + .durability = UXR_DURABILITY_VOLATILE, .reliability = UXR_RELIABILITY_BEST_EFFORT, .history = UXR_HISTORY_KEEP_LAST, .depth = 0,