From 1697ba74828049358c05e41789eea9b177977192 Mon Sep 17 00:00:00 2001
From: Rahat Dhande <rahat@sanctuary.ai>
Date: Sun, 7 Dec 2025 15:06:50 -0800
Subject: [PATCH] ensure latchd qos is reliable

---
 ur_controllers/src/gpio_controller.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ur_controllers/src/gpio_controller.cpp b/ur_controllers/src/gpio_controller.cpp
index ba16fb4b1..ffe3afd6c 100644
--- a/ur_controllers/src/gpio_controller.cpp
+++ b/ur_controllers/src/gpio_controller.cpp
@@ -286,6 +286,7 @@ ur_controllers::GPIOController::on_activate(const rclcpp_lifecycle::State& /*pre
   try {
     auto qos_latched = rclcpp::SystemDefaultsQoS();
     qos_latched.transient_local();
+    qos_latched.reliable();
     // register publisher
     io_pub_ = get_node()->create_publisher<ur_msgs::msg::IOStates>("~/io_states", rclcpp::SystemDefaultsQoS());