Use latched publishing for robot_mode and safety_mode (#992)

(cherry picked from commit a91021b)

Co-authored-by: Felix Exner <[email protected]>

Author: mergify[bot]

ur_controllers/src/gpio_controller.cpp

@@ -278,23 +278,19 @@ ur_controllers::GPIOController::on_activate(const rclcpp_lifecycle::State& /*pre
   }
 
   try {
+    auto qos_latched = rclcpp::SystemDefaultsQoS();
+    qos_latched.transient_local();
     // register publisher
     io_pub_ = get_node()->create_publisher<ur_msgs::msg::IOStates>("~/io_states", rclcpp::SystemDefaultsQoS());
 
     tool_data_pub_ =
         get_node()->create_publisher<ur_msgs::msg::ToolDataMsg>("~/tool_data", rclcpp::SystemDefaultsQoS());
 
-    robot_mode_pub_ =
-        get_node()->create_publisher<ur_dashboard_msgs::msg::RobotMode>("~/robot_mode", rclcpp::SystemDefaultsQoS());
+    robot_mode_pub_ = get_node()->create_publisher<ur_dashboard_msgs::msg::RobotMode>("~/robot_mode", qos_latched);
 
-    safety_mode_pub_ =
-        get_node()->create_publisher<ur_dashboard_msgs::msg::SafetyMode>("~/safety_mode", rclcpp::SystemDefaultsQoS());
-
-    auto program_state_pub_qos = rclcpp::SystemDefaultsQoS();
-    program_state_pub_qos.transient_local();
-    program_state_pub_ =
-        get_node()->create_publisher<std_msgs::msg::Bool>("~/robot_program_running", program_state_pub_qos);
+    safety_mode_pub_ = get_node()->create_publisher<ur_dashboard_msgs::msg::SafetyMode>("~/safety_mode", qos_latched);
 
+    program_state_pub_ = get_node()->create_publisher<std_msgs::msg::Bool>("~/robot_program_running", qos_latched);
     set_io_srv_ = get_node()->create_service<ur_msgs::srv::SetIO>(
         "~/set_io", std::bind(&GPIOController::setIO, this, std::placeholders::_1, std::placeholders::_2));