From 7bfba887fc62df10d27fe3791da38299c51faa95 Mon Sep 17 00:00:00 2001
From: Matthew Hansen <matthew.k.hansen@intel.com>
Date: Tue, 22 Oct 2019 08:38:05 -0700
Subject: [PATCH] Change QOS settings to transient local + reliable
---
nav2_system_tests/src/localization/test_localization_node.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/nav2_system_tests/src/localization/test_localization_node.cpp b/nav2_system_tests/src/localization/test_localization_node.cpp
index 6785d63b..bf543f19 100644
--- a/nav2_system_tests/src/localization/test_localization_node.cpp
+++ b/nav2_system_tests/src/localization/test_localization_node.cpp
@@ -51,7 +51,7 @@ public:
initial_pose_pub_ = node->create_publisher<geometry_msgs::msg::PoseWithCovarianceStamped>(
"initialpose", rclcpp::SystemDefaultsQoS());
subscription_ = node->create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>(
- "amcl_pose", rclcpp::SystemDefaultsQoS(),
+ "amcl_pose", rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable(),
std::bind(&TestAmclPose::amcl_pose_callback, this, _1));
initial_pose_pub_->publish(testPose_);
}
@@ -85,7 +85,7 @@ bool TestAmclPose::defaultAmclTest()
while (!pose_callback_) {
// TODO(mhpanah): Initial pose should only be published once.
initial_pose_pub_->publish(testPose_);
- std::this_thread::sleep_for(100ms);
+ std::this_thread::sleep_for(1s);
rclcpp::spin_some(node);
}
if (std::abs(amcl_pose_x - testPose_.pose.pose.position.x) < tol_ &&
--
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