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ros-drivers / ros2_ouster_drivers

ROS2 Drivers for the Ouster OS-0, OS-1, and OS-2 Lidars
https://ouster.com/
Apache License 2.0
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Runtime selectable QoS to allow for recording sensor data with rosbag2 #26

Closed tpanzarella closed 4 years ago

tpanzarella commented 4 years ago

Currently, rosbag2 in Eloquent cannot record data whose reliability level is anything but RELIABLE. See: https://github.com/ros2/rosbag2/issues/125. In this package, all sensor data are correctly published with rmw_qos_profile_sensor_data whose reliability is BEST_EFFORT. However, this precludes us from being able to record bag files with rosbag2. Not good for doing offline data analysis and development work. This PR adds a new parameter called use_system_default_qos_for_sensor_data that when set to True uses the rmw_qos_profile_default. When run in this way, rosbag2 can record the sensor topics.

Hopefully the issues with rosbag2 are addressed in Foxy and this patch can be reverted on (I assume) the forthcoming foxy-devel branch.

SteveMacenski commented 4 years ago

Waiting on CI and response on action item