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IntelligentRoboticsLabs / gb_visual_detection_3d

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Ros Galactic topic camera\depth\registered\point with qos-reliability best-effort #63

Open lunanueva opened 1 year ago

lunanueva commented 1 year ago

When run darknet_ros_3d, there is a warn message camera\depth\registered\point with qos-reliability best-effort and not message will be sent. and never it is published darket_ros_3d\markeArray topic.

How can darknet receive message with best effort ???

Thnaks Gracias Florencio garcia

fgonzalezr1998 commented 1 year ago

Hi @lunanueva excuse me for the delay. Nowadays in the code the history policy is the one defined (keep last). Unfortunately this configuration you mention requires a little change in the code. In the file src/darknet_ros_3d/Darknet3D.cpp, in the line 58 you will find the subscription to Darknet ROS. Here you have to modify the second parameter which define the QoS. Here you have the API to see how the method works.

It would be great that the node could be configured with this new parameter from the yaml to be able to change the QoS policy without touching the code.