Use best effort, keep last, history depth 1 QoS Profile for '/clock' subscriptions (#1312)

ivanpauno · web-flow · commit 29c48a4a9860 · 2020-09-17T15:12:57.000-03:00
Signed-off-by: Ivan Santiago Paunovic &lt;ivanpauno@ekumenlabs.com&gt;
diff --git a/rclcpp/src/rclcpp/time_source.cpp b/rclcpp/src/rclcpp/time_source.cpp
@@ -237,7 +237,7 @@ void TimeSource::create_clock_sub()
   clock_subscription_ = rclcpp::create_subscription<rosgraph_msgs::msg::Clock>(
     node_topics_,
     "/clock",
-    rclcpp::QoS(QoSInitialization::from_rmw(rmw_qos_profile_default)),
+    rclcpp::QoS(KeepLast(1)).best_effort(),
     std::bind(&TimeSource::clock_cb, this, std::placeholders::_1)
   );
 }

Original file line number	Diff line number	Diff line change
`@@ -237,7 +237,7 @@ void TimeSource::create_clock_sub()`
`237`	`237`	`clock_subscription_ = rclcpp::create_subscription<rosgraph_msgs::msg::Clock>(`
`238`	`238`	`node_topics_,`
`239`	`239`	`"/clock",`
`240`		`- rclcpp::QoS(QoSInitialization::from_rmw(rmw_qos_profile_default)),`
	`240`	`+ rclcpp::QoS(KeepLast(1)).best_effort(),`
`241`	`241`	`std::bind(&TimeSource::clock_cb, this, std::placeholders::_1)`
`242`	`242`	`);`
`243`	`243`	`}`