From 11d331850563badfc10ab89bf0c4bcc5dd920d7b Mon Sep 17 00:00:00 2001 From: davidfernandez Date: Tue, 7 Jan 2025 12:54:28 +0100 Subject: [PATCH] Set subscriber depth to max from publishers --- rosbridge_library/src/rosbridge_library/internal/subscribers.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/rosbridge_library/src/rosbridge_library/internal/subscribers.py b/rosbridge_library/src/rosbridge_library/internal/subscribers.py index 597563cd7..65de9bfc7 100644 --- a/rosbridge_library/src/rosbridge_library/internal/subscribers.py +++ b/rosbridge_library/src/rosbridge_library/internal/subscribers.py @@ -120,6 +120,8 @@ def __init__(self, topic, client_id, callback, node_handle, msg_type=None, raw=F ) infos = node_handle.get_publishers_info_by_topic(topic) + if infos: + qos.depth = max([10, max(pub.qos_profile.depth for pub in infos)]) if any(pub.qos_profile.durability == DurabilityPolicy.TRANSIENT_LOCAL for pub in infos): qos.durability = DurabilityPolicy.TRANSIENT_LOCAL qos.reliability = ReliabilityPolicy.RELIABLE