fix(route): set transient_local for route subscriber (#674)

Signed-off-by: Takamasa Horibe <[email protected]>
autowarefoundation · Apr 12, 2022 · dc682e6 · dc682e6
1 parent 36165da
commit dc682e6
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -60,11 +60,12 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod
     "~/input/force_approval", 1, std::bind(&BehaviorPathPlannerNode::onForceApproval, this, _1));
 
   // route_handler
+  auto qos_transient_local = rclcpp::QoS{1}.transient_local();
   vector_map_subscriber_ = create_subscription<HADMapBin>(
-    "~/input/vector_map", rclcpp::QoS{1}.transient_local(),
+    "~/input/vector_map", qos_transient_local,
     std::bind(&BehaviorPathPlannerNode::onMap, this, _1));
   route_subscriber_ = create_subscription<HADMapRoute>(
-    "~/input/route", 1, std::bind(&BehaviorPathPlannerNode::onRoute, this, _1));
+    "~/input/route", qos_transient_local, std::bind(&BehaviorPathPlannerNode::onRoute, this, _1));
 
   // publisher
   path_publisher_ = create_publisher<PathWithLaneId>("~/output/path", 1);

diff --git a/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp b/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp
@@ -233,7 +233,8 @@ FreespacePlannerNode::FreespacePlannerNode(const rclcpp::NodeOptions & node_opti
   // Subscribers
   {
     route_sub_ = create_subscription<HADMapRoute>(
-      "~/input/route", 1, std::bind(&FreespacePlannerNode::onRoute, this, _1));
+      "~/input/route", rclcpp::QoS{1}.transient_local(),
+      std::bind(&FreespacePlannerNode::onRoute, this, _1));
     occupancy_grid_sub_ = create_subscription<OccupancyGrid>(
       "~/input/occupancy_grid", 1, std::bind(&FreespacePlannerNode::onOccupancyGrid, this, _1));
     scenario_sub_ = create_subscription<Scenario>(