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gaia-platform / rosbag2_snapshot

A ROS2 port of rosbag_snapshot
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Incompatible QoS for Best Effort / SensorDataQoS #7

Open samiamlabs opened 2 years ago

samiamlabs commented 2 years ago

I'm getting warnings like these when using this package on galactic for topics with sensor profile qos:

[snapshotter-2] [WARN] [1642341909.854706517] [snapshotter_node]: New publisher discovered on topic '/imu/data', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY

Changing the qos profile to rclcpp::SensorDataQoS() here gets rid of the warning: https://github.com/gaia-platform/rosbag2_snapshot/blob/0adc67f656b9ae5582ee10299fe173da44e70418/rosbag2_snapshot/src/snapshotter.cpp#L433

I feel like there should be a better solution to this problem though.

JWhitleyWork commented 2 years ago

@samiamlabs Thanks for bringing this up. The proper way to handle this would be to add all of the QoS parameters (or at least the reliability and durability) to both the Topic Details message and the list of node parameters.

I am no longer actively working on this project but would be happy to review a PR.

AHuguetINDRA commented 1 year ago

Thank you, this answer helped me solve a problem I was having with a completely unrelated ROS2 project 😆