Use SensorDataQoS for lidar subscriptions#37
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benemer merged 2 commits intoPRBonn:mainfrom Jul 15, 2025
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Switched from SystemDefaultsQoS to SensorDataQoS for both LaserScan and PointCloud2 subscriptions to ensure compatibility with sensor publishers using BEST_EFFORT reliability. This avoids QoS incompatibility errors when subscribing to topics.
ibrahimhroob
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nachovizzo and
tizianoGuadagnino
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benemer
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Jul 14, 2025
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Thanks, Ibrahim!
It would probably also make sense to change that for KISS-ICP, right?
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Hi Benedikt, For KISS-ICP, the sensor subscription QoS is set to the sensor data profile: https://github.com/PRBonn/kiss-icp/blob/75517d5d4a767e93539b0fad16cfc7ed98d1fe4f/ros/src/OdometryServer.cpp#L84C37-L84C50 Actually I got this fix from KISS-ICP |
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Ah nice, good catch! |
saurabh1002
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Jul 15, 2025
benemer
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CI passes now, I had to make some changes to the CI :) Looks good and thanks again!
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Switched from SystemDefaultsQoS to SensorDataQoS for both LaserScan and PointCloud2 subscriptions to ensure compatibility with sensor publishers using BEST_EFFORT reliability. This avoids QoS incompatibility errors when subscribing to topics.