fix(rclcpp_components): increase the service queue sizes in component…

…_container (backport #2363) (#2380) * fix(rclcpp_components): increase the service queue sizes in component_container (#2363) * Use rmw_qos_profile_t. Humble doesn't support create_service with the rclcpp::QoS object. Signed-off-by: M. Fatih Cırıt <[email protected]> (cherry picked from commit 9c098e5) Signed-off-by: Chris Lalancette <[email protected]>
ros2 · Dec 1, 2023 · 2c8d2aa · 2c8d2aa
1 parent 47712ec
commit 2c8d2aa
Showing 1 changed file with 6 additions and 2 deletions.
diff --git a/rclcpp_components/src/component_manager.cpp b/rclcpp_components/src/component_manager.cpp
@@ -37,12 +37,16 @@ ComponentManager::ComponentManager(
 : Node(std::move(node_name), node_options),
   executor_(executor)
 {
+  rmw_qos_profile_t service_qos = rmw_qos_profile_services_default;
+  service_qos.depth = 200;
   loadNode_srv_ = create_service<LoadNode>(
     "~/_container/load_node",
-    std::bind(&ComponentManager::on_load_node, this, _1, _2, _3));
+    std::bind(&ComponentManager::on_load_node, this, _1, _2, _3),
+    service_qos);
   unloadNode_srv_ = create_service<UnloadNode>(
     "~/_container/unload_node",
-    std::bind(&ComponentManager::on_unload_node, this, _1, _2, _3));
+    std::bind(&ComponentManager::on_unload_node, this, _1, _2, _3),
+    service_qos);
   listNodes_srv_ = create_service<ListNodes>(
     "~/_container/list_nodes",
     std::bind(&ComponentManager::on_list_nodes, this, _1, _2, _3));