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AP_DDS: Switch NavSatFix topic to sensor data QOS

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* 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
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9
libraries/AP_DDS/dds_xrce_profile.xml
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@ -35,15 +35,18 @@
<dataType>sensor_msgs::msg::dds_::NavSatFix_</dataType> <dataType>sensor_msgs::msg::dds_::NavSatFix_</dataType>
<historyQos> <historyQos>
<kind>KEEP_LAST</kind> <kind>KEEP_LAST</kind>
<depth>20</depth> <depth>5</depth>
</historyQos> </historyQos>
</topic> </topic>
<data_writer profile_name="navsatfix0__dw"> <data_writer profile_name="navsatfix0__dw">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy> <historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos> <qos>
<reliability> <reliability>
<kind>RELIABLE</kind> <kind>BEST_EFFORT</kind>
</reliability> </reliability>
<durability>
<kind>VOLATILE</kind>
</durability>
</qos> </qos>
<topic> <topic>
<kind>NO_KEY</kind> <kind>NO_KEY</kind>
@ -51,7 +54,7 @@
<dataType>sensor_msgs::msg::dds_::NavSatFix_</dataType> <dataType>sensor_msgs::msg::dds_::NavSatFix_</dataType>
<historyQos> <historyQos>
<kind>KEEP_LAST</kind> <kind>KEEP_LAST</kind>
<depth>20</depth> <depth>5</depth>
</historyQos> </historyQos>
</topic> </topic>
</data_writer> </data_writer>