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ros / robot_state_publisher

Allows you to publish the state of a robot (i.e the position of its base and all joints) via the "tf" transform library
http://www.ros.org/wiki/robot_state_publisher
BSD 3-Clause "New" or "Revised" License
90 stars 168 forks source link

Intra-process comm not supported due to `transient_local` durability #219

Open roncapat opened 4 months ago

roncapat commented 4 months ago

Currently, robot_state_publisher can be used as a composable node, but with Intra-Process disabled. It would be desiderable to allow its enablement.

sloretz commented 4 months ago

Mind trying if intra-process works when you override the qos parameter?

The parameter name should be something like: qos_overrides./robot_description.publisher.durability and you can set it to volatile.

Yadunund commented 4 months ago

@sloretz's solution would work but often times downstream subscriptions expect a transient_local durability. Hence, I've opened https://github.com/ros/robot_state_publisher/pull/220. Could you give that a try?