Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_DDS: Switch BatteryState topic to sensor data QOS 

Resolves #23365 for the BatteryState topic
This commit is contained in:
pedro-fuoco 2023-03-31 00:03:59 -03:00 committed by Peter Barker
parent e1b06a1b99
commit 72a693e68e
1 changed files with 6 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
libraries/AP_DDS/dds_xrce_profile.xml
View File

@ -91,15 +91,18 @@
<dataType>sensor_msgs::msg::dds_::BatteryState_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>20</depth>
<depth>5</depth>
</historyQos>
</topic>
<data_writer profile_name="batterystate0__dw">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos>
<reliability>
<kind>RELIABLE</kind>
<kind>BEST_EFFORT</kind>
</reliability>
<durability>
<kind>VOLATILE</kind>
</durability>
</qos>
<topic>
<kind>NO_KEY</kind>
@ -107,7 +110,7 @@
<dataType>sensor_msgs::msg::dds_::BatteryState_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>20</depth>
<depth>5</depth>
</historyQos>
</topic>
</data_writer>