Make joint_states subscription QoS configurable; default to SensorDataQoS #179
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…aQoS.
This changes the subscription default from `reliable` to
`best_effort`. This is helpful when visualizing a robot that's running
on a wifi-connected device, and eliminates a warning when starting up
drivers on a robot that publishes with `best_effort`.
The subscription defaults to `best_effort`, but can be overridden with
the following config:
```yaml
robot_state_publisher:
ros__parameters:
qos_overrides:
/joint_states:
subscription:
reliability: reliable
```
clalancette
requested changes
Oct 21, 2021
clalancette
approved these changes
Oct 26, 2021
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This changes the subscription default from
reliabletobest_effort. This is helpful when visualizing a robot that's runningon a wifi-connected device, and eliminates a warning when starting up
drivers on a robot that publishes with
best_effort.The subscription defaults to
best_effort, but can be overridden withthe following config: