From 94c8c29ba486e1ae8d363d17eafc470f75587be4 Mon Sep 17 00:00:00 2001
From: Matthew Hansen <matthew.k.hansen@intel.com>
Date: Thu, 3 Oct 2019 16:39:45 -0700
Subject: [PATCH] Change rviz QOS policies for sensors and costmaps
---
nav2_bringup/bringup/rviz/nav2_default_view.rviz | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/nav2_bringup/bringup/rviz/nav2_default_view.rviz b/nav2_bringup/bringup/rviz/nav2_default_view.rviz
index b1c0e670..32fba3e4 100644
--- a/nav2_bringup/bringup/rviz/nav2_default_view.rviz
+++ b/nav2_bringup/bringup/rviz/nav2_default_view.rviz
@@ -117,7 +117,7 @@ Visualization Manager:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
- Reliability Policy: Reliable
+ Reliability Policy: Best Effort
Value: /scan
Use Fixed Frame: true
Use rainbow: true
@@ -150,7 +150,7 @@ Visualization Manager:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
- Reliability Policy: Reliable
+ Reliability Policy: Best Effort
Value: /mobile_base/sensors/bumper_pointcloud
Use Fixed Frame: true
Use rainbow: true
@@ -198,8 +198,8 @@ Visualization Manager:
Enabled: true
Name: Global Costmap
Topic:
- Depth: 5
- Durability Policy: Volatile
+ Depth: 1
+ Durability Policy: Transient Local
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/costmap
@@ -255,8 +255,8 @@ Visualization Manager:
Enabled: true
Name: Local Costmap
Topic:
- Depth: 5
- Durability Policy: Volatile
+ Depth: 1
+ Durability Policy: Transient Local
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/costmap
--
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