Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-01 21:48:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_DDS: Switch NavSatFix topic to sensor data QOS

Browse Source 
* Change Reliability to BEST_EFFORT
* Change Durability to VOLATILE
* Change to smaller queue size on NavSatFix QOS
This commit is contained in:
pedro-fuoco 2023-03-30 23:30:27 -03:00 committed by Andrew Tridgell
parent caa77ccba8
commit ffed6e0f26
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

@ -35,15 +35,18 @@
<dataType>sensor_msgs::msg::dds_::NavSatFix_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>20</depth>
<depth>5</depth>
</historyQos>
</topic>
<data_writer profile_name="navsatfix0__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>
@ -51,7 +54,7 @@
<dataType>sensor_msgs::msg::dds_::NavSatFix_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>20</depth>
<depth>5</depth>
</historyQos>
</topic>
</data_writer>