Using "sensor data" QoS profile with BEST_EFFORT (#67)

* Fixing #41 - using sensor data QoS profile with BEST_EFFORT * Using SubscriptionOptions for QoS overrides Co-authored-by: Jacob Perron <[email protected]> * Disable QoS overrides until they will actually work We need to wait until ROS command-line arguments are properly parsed upstream. Signed-off-by: Jacob Perron <[email protected]> Co-authored-by: Jacob Perron <[email protected]>
ros-visualization · Mar 21, 2022 · 2046bc3 · 2046bc3
1 parent 390a399
commit 2046bc3
Showing 1 changed file with 10 additions and 2 deletions.
diff --git a/src/rqt_image_view/image_view.cpp b/src/rqt_image_view/image_view.cpp
@@ -317,10 +317,18 @@ void ImageView::onTopicChanged(int index)
 
   if (!topic.isEmpty())
   {
-    image_transport::ImageTransport it(node_);
     const image_transport::TransportHints hints(node_.get(), transport.toStdString());
     try {
-      subscriber_ = it.subscribe(topic.toStdString(), 1, &ImageView::callbackImage, this, &hints);
+      auto subscription_options = rclcpp::SubscriptionOptions();
+      // TODO(jacobperron): Enable once ROS CLI args are supported https://github.com/ros-visualization/rqt/issues/262
+      // subscription_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
+      subscriber_ = image_transport::create_subscription(
+        node_.get(),
+        topic.toStdString(),
+        std::bind(&ImageView::callbackImage, this, std::placeholders::_1),
+        hints.getTransport(),
+        rmw_qos_profile_sensor_data,
+        subscription_options);
       qDebug("ImageView::onTopicChanged() to topic '%s' with transport '%s'", topic.toStdString().c_str(), subscriber_.getTransport().c_str());
     } catch (image_transport::TransportLoadException& e) {
       QMessageBox::warning(widget_, tr("Loading image transport plugin failed"), e.what());