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AP_DDS: make all subscriber QoS best effort reliability

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Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
This commit is contained in:
Rhys Mainwaring 2024-05-25 17:24:06 +01:00 committed by Andrew Tridgell
parent 840f4b142d
commit 88926a38cf
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_DDS/AP_DDS_Topic_Table.h
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@ -207,7 +207,7 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
.type_name = "sensor_msgs::msg::dds_::Joy_", .type_name = "sensor_msgs::msg::dds_::Joy_",
.qos = { .qos = {
.durability = UXR_DURABILITY_VOLATILE, .durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_RELIABLE, .reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST, .history = UXR_HISTORY_KEEP_LAST,
.depth = 5, .depth = 5,
}, },
@ -223,7 +223,7 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
.type_name = "tf2_msgs::msg::dds_::TFMessage_", .type_name = "tf2_msgs::msg::dds_::TFMessage_",
.qos = { .qos = {
.durability = UXR_DURABILITY_VOLATILE, .durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_RELIABLE, .reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST, .history = UXR_HISTORY_KEEP_LAST,
.depth = 5, .depth = 5,
}, },
@ -239,7 +239,7 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
.type_name = "geometry_msgs::msg::dds_::TwistStamped_", .type_name = "geometry_msgs::msg::dds_::TwistStamped_",
.qos = { .qos = {
.durability = UXR_DURABILITY_VOLATILE, .durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_RELIABLE, .reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST, .history = UXR_HISTORY_KEEP_LAST,
.depth = 5, .depth = 5,
}, },
@ -255,7 +255,7 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
.type_name = "ardupilot_msgs::msg::dds_::GlobalPosition_", .type_name = "ardupilot_msgs::msg::dds_::GlobalPosition_",
.qos = { .qos = {
.durability = UXR_DURABILITY_VOLATILE, .durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_RELIABLE, .reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST, .history = UXR_HISTORY_KEEP_LAST,
.depth = 5, .depth = 5,
}, },