Updated QoS for translator and topic_publisher

Author: fcladera

mocha_core/mocha_core/topic_publisher.py

@@ -20,6 +20,14 @@
 import mocha_core.database_server as ds
 import mocha_core.hash_comm as hc
 import queue
+from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy, DurabilityPolicy
+
+
+QOS_PROFILE = QoSProfile(
+    reliability=ReliabilityPolicy.RELIABLE,
+    durability=DurabilityPolicy.VOLATILE,
+    history=HistoryPolicy.KEEP_ALL,
+)
 
 
 class TopicPublisher:
@@ -41,7 +49,7 @@ def __init__(self, robot_id, robot_name, topic_id, topic_name, msg_types, obj, r
 
         self.publisher = self.ros_node.create_publisher(obj,
                                                         f"/{robot_name}{topic_name}",
-                                                        10)
+                                                        qos_profile=QOS_PROFILE)
         self.is_shutdown = threading.Event()
         self.is_shutdown.set()
 

mocha_core/mocha_core/translator.py

@@ -16,6 +16,15 @@
 from mocha_core.srv import AddUpdateDB, GetDataHeaderDB, SelectDB
 import mocha_core.database_server as ds
 
+from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy, DurabilityPolicy
+
+
+QOS_PROFILE = QoSProfile(
+    reliability=ReliabilityPolicy.RELIABLE,
+    durability=DurabilityPolicy.VOLATILE,
+    history=HistoryPolicy.KEEP_ALL,
+)
+
 
 class Translator():
     def __init__(
@@ -42,8 +51,9 @@ def __init__(
 
         # Create subscriber with callback group
         self.subscription = self.ros_node.create_subscription(
-            msg_type, self.topic_name, self.translator_cb, 10,
-            callback_group=callback_group
+            msg_type, self.topic_name, self.translator_cb,
+            callback_group=callback_group,
+            qos_profile=QOS_PROFILE
         )
         self.logger.info(f"Translator created for {self.topic_name}")
 

mocha_core/test/test_translator.py

@@ -123,7 +123,7 @@ def test_translator_processes_messages(self):
         test_publisher = translator_node.create_publisher(
             PointStamped,
             "/pose",
-            10
+            qos_profile=tr.QOS_PROFILE
         )
 
         # Wait for connections to be established
@@ -233,7 +233,7 @@ def topic_publisher(topic_id, topic_info, msgs_count):
 
             # Get message type for this topic
             obj = msg_types[robot_id][topic_id]["obj"]
-            pub = pub_node.create_publisher(obj, topic_name, 10)
+            pub = pub_node.create_publisher(obj, topic_name, tr.QOS_PROFILE)
 
             # Wait for publisher to connect
             time.sleep(0.5)