From cf530044be5885ac592c922b0daff56b84d2691f Mon Sep 17 00:00:00 2001
From: Matthew Hansen <matthew.k.hansen@intel.com>
Date: Mon, 9 Sep 2019 07:28:36 -0700
Subject: [PATCH] Add QOS policies to system test
---
nav2_system_tests/src/system/test_system_node.py | 14 +++++++++++---
1 file changed, 11 insertions(+), 3 deletions(-)
diff --git a/nav2_system_tests/src/system/test_system_node.py b/nav2_system_tests/src/system/test_system_node.py
index 35ecc24c..e4531699 100755
--- a/nav2_system_tests/src/system/test_system_node.py
+++ b/nav2_system_tests/src/system/test_system_node.py
@@ -23,6 +23,8 @@ from geometry_msgs.msg import PoseWithCovarianceStamped
from lifecycle_msgs.srv import GetState
import rclpy
from rclpy.node import Node
+from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSReliabilityPolicy
+from rclpy.qos import QoSProfile
class NavTester(Node):
@@ -30,11 +32,17 @@ class NavTester(Node):
def __init__(self):
super().__init__('nav2_tester')
self.initial_pose_pub = self.create_publisher(PoseWithCovarianceStamped,
- '/initialpose')
- self.goal_pub = self.create_publisher(PoseStamped, '/goal_pose')
+ '/initialpose', 10)
+ self.goal_pub = self.create_publisher(PoseStamped, '/goal_pose', 10)
+
+ pose_qos = QoSProfile(
+ durability=QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
+ reliability=QoSReliabilityPolicy.RMW_QOS_POLICY_RELIABILITY_RELIABLE,
+ history=QoSHistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_LAST,
+ depth=1)
self.model_pose_sub = self.create_subscription(PoseWithCovarianceStamped,
- '/amcl_pose', self.poseCallback)
+ '/amcl_pose', self.poseCallback, pose_qos)
self.initial_pose_received = False
def setInitialPose(self, pose):
--
GitLab