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ros-teleop / teleop_tools

A set of generic teleoperation tools for any robot.
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QoS conflict with joystick_drivers package #78

Open roncapat opened 2 years ago

roncapat commented 2 years ago

https://github.com/ros-teleop/teleop_tools/blob/d6fd09179347dabb82edcafb04444fb2581c544e/joy_teleop/joy_teleop/joy_teleop.py#L384

I run joystick_drivers's joy node, that publishes on topic /joy with BEST_EFFORT QoS setting. However, this node subscribes with RELIABLE QoS setting, thus the subscription won't work.

Since the packages that modifies (see above) the default QoS is this one, I open an issue on this repo.

If you want, I can test and push a PR where subscription reliability is parametrized. Let me know if there are alternative solutions.

EDIT: sorry, now for some reason I can see that both pub and sub are RELIABLE

bmagyar commented 2 years ago

I think we should always use best effort here

roncapat commented 2 years ago

I'm not sure about the safety - I mean, may starting to loose incoming packets bring to an unsafe situation?

And/or

Shall we reopen the issue then to leave track of the needed change, if safe & needed?

bmagyar commented 2 years ago

Let's leave it open with the hopes of getting more philosophers joining the discussion and eventually reaching a conclusion