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enable QoS policy overriding for publishers and subscribers #342

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enable QoS policy overriding for publishers and subscribers #342

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dedba9d
Enable QoS policy overriding via parameters
Oct 28, 2025
790bb42
Durability overriding added
Oct 29, 2025
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Durability overriding added
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p.kleshchin committed Oct 29, 2025
commit 790bb42aff9334c181cbb526b167f95fb9622bd9
14 changes: 12 additions & 2 deletions spatio_temporal_voxel_layer/src/spatio_temporal_voxel_layer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -142,11 +142,21 @@ void SpatioTemporalVoxelLayer::onInitialize(void)

auto sub_opt = rclcpp::SubscriptionOptions();
sub_opt.callback_group = callback_group_;
sub_opt.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
sub_opt.qos_overriding_options = rclcpp::QosOverridingOptions(
{rclcpp::QosPolicyKind::Reliability,
rclcpp::QosPolicyKind::Depth,
rclcpp::QosPolicyKind::History,
rclcpp::QosPolicyKind::Durability}
);

auto pub_opt = rclcpp::PublisherOptions();
sub_opt.callback_group = callback_group_;
pub_opt.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
pub_opt.qos_overriding_options = rclcpp::QosOverridingOptions(
{rclcpp::QosPolicyKind::Reliability,
rclcpp::QosPolicyKind::Depth,
rclcpp::QosPolicyKind::History,
rclcpp::QosPolicyKind::Durability}
);

if(_publish_voxels)
{
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