From 2c8d2aa4532e5d429b53f21eb911cc090e29057a Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Fri, 1 Dec 2023 17:05:03 -0500 Subject: [PATCH] fix(rclcpp_components): increase the service queue sizes in component_container (backport #2363) (#2380) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * 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 (cherry picked from commit 9c098e544ecf191b7c61f63f7f4fac6f6449cedd) Signed-off-by: Chris Lalancette --- rclcpp_components/src/component_manager.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/rclcpp_components/src/component_manager.cpp b/rclcpp_components/src/component_manager.cpp index 036350a64f..16329a4247 100644 --- 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( "~/_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( "~/_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( "~/_container/list_nodes", std::bind(&ComponentManager::on_list_nodes, this, _1, _2, _3));