This PR ensures that all topic publishers and subscriptions are configured with the same QoS settings. Given that the history depth for the turtle1/pose subscription was previously 1, I would observe the draw_square executable would sometimes wait indefinitely if the message was dropped. This could happen if the Default reliability is BEST_EFFORT instead of RELIABLE. With the changes, the reliability is RELIABLE and all pub/subs have compatible settings.
This PR ensures that all topic publishers and subscriptions are configured with the same QoS settings. Given that the history depth for the
turtle1/pose
subscription was previously 1, I would observe thedraw_square
executable would sometimes wait indefinitely if the message was dropped. This could happen if the Default reliability is BEST_EFFORT instead of RELIABLE. With the changes, the reliability is RELIABLE and all pub/subs have compatible settings.