Add topic properties to rviz config file

nav2_bringup/bringup/rviz/nav2_default_view.rviz

@@ -51,7 +51,12 @@ Visualization Manager:
       Collision Enabled: false
       Description File: ""
       Description Source: Topic
-      Description Topic: /robot_description
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
       Enabled: false
       Links:
         All Links Enabled: true
@@ -61,7 +66,6 @@ Visualization Manager:
         Link Tree Style: ""
       Name: RobotModel
       TF Prefix: ""
-      Unreliable: false
       Update Interval: 0
       Value: true
       Visual Enabled: true
@@ -105,13 +109,16 @@ Visualization Manager:
       Min Intensity: 0
       Name: LaserScan
       Position Transformer: XYZ
-      Queue Size: 10
       Selectable: true
       Size (Pixels): 3
       Size (m): 0.009999999776482582
       Style: Flat Squares
-      Topic: /scan
-      Unreliable: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /scan
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
@@ -135,13 +142,16 @@ Visualization Manager:
       Min Intensity: 0
       Name: Bumper Hit
       Position Transformer: ""
-      Queue Size: 10
       Selectable: true
       Size (Pixels): 3
       Size (m): 0.07999999821186066
       Style: Spheres
-      Topic: /mobile_base/sensors/bumper_pointcloud
-      Unreliable: false
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /mobile_base/sensors/bumper_pointcloud
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
@@ -151,8 +161,12 @@ Visualization Manager:
       Draw Behind: true
       Enabled: true
       Name: Map
-      Topic: /map
-      Unreliable: false
+      Topic:
+        Depth: 1
+        Durability Policy: Transient Local
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map
       Use Timestamp: false
       Value: true
     - Alpha: 1
@@ -168,8 +182,12 @@ Visualization Manager:
       Shaft Length: 0.23000000417232513
       Shaft Radius: 0.009999999776482582
       Shape: Arrow (Flat)
-      Topic: /particlecloud
-      Unreliable: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /particlecloud
       Value: true
     - Class: rviz_common/Group
       Displays:
@@ -179,8 +197,12 @@ Visualization Manager:
           Draw Behind: false
           Enabled: true
           Name: Global Costmap
-          Topic: /global_costmap/costmap
-          Unreliable: false
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /global_costmap/costmap
           Use Timestamp: false
           Value: false
         - Alpha: 1
@@ -203,16 +225,24 @@ Visualization Manager:
           Radius: 0.029999999329447746
           Shaft Diameter: 0.004999999888241291
           Shaft Length: 0.019999999552965164
-          Topic: /plan
-          Unreliable: false
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /plan
           Value: true
         - Alpha: 1
           Class: rviz_default_plugins/Polygon
           Color: 25; 255; 0
           Enabled: false
           Name: Polygon
-          Topic: /global_costmap/published_footprint
-          Unreliable: false
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /global_costmap/published_footprint
           Value: false
       Enabled: true
       Name: Global Planner
@@ -224,8 +254,12 @@ Visualization Manager:
           Draw Behind: false
           Enabled: true
           Name: Local Costmap
-          Topic: /local_costmap/costmap
-          Unreliable: false
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /local_costmap/costmap
           Use Timestamp: false
           Value: true
         - Alpha: 1
@@ -248,25 +282,36 @@ Visualization Manager:
           Radius: 0.029999999329447746
           Shaft Diameter: 0.10000000149011612
           Shaft Length: 0.10000000149011612
-          Topic: /local_plan
-          Unreliable: false
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /local_plan
           Value: true
         - Class: rviz_default_plugins/MarkerArray
           Enabled: false
           Name: Trajectories
           Namespaces:
             {}
-          Queue Size: 10
-          Topic: /marker
-          Unreliable: false
-          Value: true
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /marker
+          Value: false
         - Alpha: 1
           Class: rviz_default_plugins/Polygon
           Color: 25; 255; 0
           Enabled: true
           Name: Polygon
-          Topic: /local_costmap/published_footprint
-          Unreliable: false
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /local_costmap/published_footprint
           Value: true
       Enabled: true
       Name: Local Planner
@@ -283,10 +328,20 @@ Visualization Manager:
     - Class: rviz_default_plugins/Measure
       Line color: 128; 128; 0
     - Class: rviz_default_plugins/SetInitialPose
-      Topic: /initialpose
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
     - Class: rviz_default_plugins/PublishPoint
       Single click: true
-      Topic: /clicked_point
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
     - Class: nav2_rviz_plugins/GoalTool
   Transformation:
     Current:
@@ -318,7 +373,7 @@ Window Geometry:
   Hide Right Dock: true
   Navigation 2:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000338fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002d0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e002000320100000313000000620000006200ffffff000000010000010f00000338fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000338000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004990000033800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000338fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002c4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e0020003201000003070000006e0000006e00ffffff000000010000010f00000338fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000338000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004990000033800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties: