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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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Enable QoS policy overriding via parameters
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p.kleshchin committed Oct 28, 2025
commit dedba9dd1c3be8c5079cc2e30f4f32b95d98fd8e
2 changes: 2 additions & 0 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 @@ -142,9 +142,11 @@ 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();

auto pub_opt = rclcpp::PublisherOptions();
sub_opt.callback_group = callback_group_;
pub_opt.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();

if(_publish_voxels)
{
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