From 87118c93b07eb50ce43b2cba7a23c5ba075cd7d7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Thu, 9 Nov 2023 13:06:47 +0300 Subject: [PATCH 1/3] fix(rclcpp_components): increase the service queue sizes in component_container MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- rclcpp_components/src/component_manager.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/rclcpp_components/src/component_manager.cpp b/rclcpp_components/src/component_manager.cpp index 036350a64f..5e8cb4b901 100644 --- a/rclcpp_components/src/component_manager.cpp +++ b/rclcpp_components/src/component_manager.cpp @@ -39,10 +39,12 @@ ComponentManager::ComponentManager( { 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), + rclcpp::QoS(200).get_rmw_qos_profile()); 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), + rclcpp::QoS(200).get_rmw_qos_profile()); listNodes_srv_ = create_service( "~/_container/list_nodes", std::bind(&ComponentManager::on_list_nodes, this, _1, _2, _3)); From acc6f62002195e47af1ac5e694dc6e839f0b9714 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Thu, 9 Nov 2023 14:08:36 +0300 Subject: [PATCH 2/3] use rclcpp::QoS() directly in rolling MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- rclcpp_components/src/component_manager.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/rclcpp_components/src/component_manager.cpp b/rclcpp_components/src/component_manager.cpp index 5e8cb4b901..0bf1af6435 100644 --- a/rclcpp_components/src/component_manager.cpp +++ b/rclcpp_components/src/component_manager.cpp @@ -40,11 +40,11 @@ ComponentManager::ComponentManager( loadNode_srv_ = create_service( "~/_container/load_node", std::bind(&ComponentManager::on_load_node, this, _1, _2, _3), - rclcpp::QoS(200).get_rmw_qos_profile()); + rclcpp::QoS(200)); unloadNode_srv_ = create_service( "~/_container/unload_node", std::bind(&ComponentManager::on_unload_node, this, _1, _2, _3), - rclcpp::QoS(200).get_rmw_qos_profile()); + rclcpp::QoS(200)); listNodes_srv_ = create_service( "~/_container/list_nodes", std::bind(&ComponentManager::on_list_nodes, this, _1, _2, _3)); From 9bf1b0923e38561433c599661753232df4d8c4b2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Thu, 9 Nov 2023 17:08:58 +0300 Subject: [PATCH 3/3] explicit rclcpp::ServicesQoS().keep_last() MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- rclcpp_components/src/component_manager.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/rclcpp_components/src/component_manager.cpp b/rclcpp_components/src/component_manager.cpp index 0bf1af6435..7b77af9c92 100644 --- a/rclcpp_components/src/component_manager.cpp +++ b/rclcpp_components/src/component_manager.cpp @@ -40,11 +40,11 @@ ComponentManager::ComponentManager( loadNode_srv_ = create_service( "~/_container/load_node", std::bind(&ComponentManager::on_load_node, this, _1, _2, _3), - rclcpp::QoS(200)); + rclcpp::ServicesQoS().keep_last(200)); unloadNode_srv_ = create_service( "~/_container/unload_node", std::bind(&ComponentManager::on_unload_node, this, _1, _2, _3), - rclcpp::QoS(200)); + rclcpp::ServicesQoS().keep_last(200)); listNodes_srv_ = create_service( "~/_container/list_nodes", std::bind(&ComponentManager::on_list_nodes, this, _1, _2, _3));