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microdds: use UXR_DURABILITY_VOLATILE for data reader

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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
This commit is contained in:
Beat Küng
2022-11-17 08:24:34 +01:00
committed by Daniel Agar
parent b36758b1a0
commit 45b390b0bf
1 changed files with 1 additions and 1 deletions
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src/modules/microdds_client/utilities.hpp
+1 -1
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@@ -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); uxrObjectId datareader_id = uxr_object_id(id, UXR_DATAREADER_ID);
uxrQoS_t qos = { uxrQoS_t qos = {
.durability = UXR_DURABILITY_TRANSIENT_LOCAL, .durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_BEST_EFFORT, .reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST, .history = UXR_HISTORY_KEEP_LAST,
.depth = 0, .depth = 0,