fix(component_interface_specs): change ControlCommand QoS to volatile (#833)

* fix(component_interface_specs): change ControlCommand QoS durability to volatile

Change the QoS durability of ControlCommand from TRANSIENT_LOCAL to
VOLATILE.

Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp>

* test(component_interface_spec): update ControlCommand QoS durability to volatile on test

Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp>

---------

Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp>
Co-authored-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp>

Author: interimadd

common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp

@@ -29,7 +29,7 @@ struct ControlCommand
   static constexpr char name[] = "/control/command/control_cmd";
   static constexpr size_t depth = 1;
   static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
-  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
 }  // namespace autoware::component_interface_specs::control

common/autoware_component_interface_specs/test/test_control.cpp

@@ -21,10 +21,10 @@ TEST(control, interface)
   size_t depth = 1;
   EXPECT_EQ(ControlCommand::depth, depth);
   EXPECT_EQ(ControlCommand::reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
-  EXPECT_EQ(ControlCommand::durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
+  EXPECT_EQ(ControlCommand::durability, RMW_QOS_POLICY_DURABILITY_VOLATILE);
 
   const auto qos = autoware::component_interface_specs::get_qos<ControlCommand>();
   EXPECT_EQ(qos.depth(), depth);
   EXPECT_EQ(qos.reliability(), rclcpp::ReliabilityPolicy::Reliable);
-  EXPECT_EQ(qos.durability(), rclcpp::DurabilityPolicy::TransientLocal);
+  EXPECT_EQ(qos.durability(), rclcpp::DurabilityPolicy::Volatile);
 }