Reliable QoS for publishers

Santti4go commented 2 years ago

Description

This PR is to ensure compatibility with some subscribers making reliable as QoS's default for publishers.

Fixes issue #135
More information here.

Type of change

[x] Bug fix (non-breaking change which fixes an issue)
[ ] New feature (non-breaking change which adds functionality)

How Has This Been Tested?

Before apply any changes I run gazebo create3 simulation

ros2 launch irobot_create_gazebo_bringup create3_gazebo.launch.py

And then I verify the QoS profile of certains topics with

ros2 topic info <topic> -v

So, before applying any changes the Reliability field inside QoS profile is BEST_EFFORT. After applying the changes the same field change to RELIABLE

Also I run the example described here before and after making changes and everything works as expected.

Checklist

[x] I have performed a self-review of my own code
[x] I have commented my code, particularly in hard-to-understand areas
[x] I have made corresponding changes to the documentation

alsora commented 2 years ago

PR looks good to me, but you should rebase it to the latest main branch

Santti4go commented 2 years ago

I just rebase it to main branch. Should I be concern about the failed check? I take a look at it and couldn't figure it out, besides the simulation is running just fine for me.

alsora commented 2 years ago

We can't merge if there are test failures. They are all linter errors, e.g. lines exceed the max length of 100. You should run colcon test locally to reproduce the failures.

Santti4go commented 2 years ago

Done! It was just a couple of style divergence errors. Everything should be correct now.

iRobotEducation / create3_sim