From 796415e1607840e9c0928feece8c87fb1be8baf3 Mon Sep 17 00:00:00 2001
From: Michael Ferguson <mfergs7@gmail.com>
Date: Sun, 11 Aug 2024 11:00:29 -0400
Subject: [PATCH] remove redundant keep_last() (#166)

---
 robot_calibration/src/finders/led_finder.cpp   | 2 +-
 robot_calibration/src/finders/plane_finder.cpp | 2 +-
 robot_calibration/src/finders/scan_finder.cpp  | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/robot_calibration/src/finders/led_finder.cpp b/robot_calibration/src/finders/led_finder.cpp
index 4b72e1f6..64f1bfb3 100644
--- a/robot_calibration/src/finders/led_finder.cpp
+++ b/robot_calibration/src/finders/led_finder.cpp
@@ -71,7 +71,7 @@ bool LedFinder::init(const std::string& name,
   topic_name = node->declare_parameter<std::string>(name + ".topic", name + "/points");
   subscriber_ = node->create_subscription<sensor_msgs::msg::PointCloud2>(
     topic_name,
-    rclcpp::QoS(1).best_effort().keep_last(1),
+    rclcpp::QoS(1).best_effort(),
     std::bind(&LedFinder::cameraCallback, this, std::placeholders::_1));
 
   // Publish where LEDs were seen
diff --git a/robot_calibration/src/finders/plane_finder.cpp b/robot_calibration/src/finders/plane_finder.cpp
index cee30391..7c32d330 100644
--- a/robot_calibration/src/finders/plane_finder.cpp
+++ b/robot_calibration/src/finders/plane_finder.cpp
@@ -108,7 +108,7 @@ bool PlaneFinder::init(const std::string& name,
     node->declare_parameter<std::string>(name + ".topic", name + "/points");
   subscriber_ = node->create_subscription<sensor_msgs::msg::PointCloud2>(
     topic_name,
-    rclcpp::QoS(1).best_effort().keep_last(1),
+    rclcpp::QoS(1).best_effort(),
     std::bind(&PlaneFinder::cameraCallback, this, std::placeholders::_1));
 
   // Name of the sensor model that will be used during optimization
diff --git a/robot_calibration/src/finders/scan_finder.cpp b/robot_calibration/src/finders/scan_finder.cpp
index 1e960b9d..bc7ab3b1 100644
--- a/robot_calibration/src/finders/scan_finder.cpp
+++ b/robot_calibration/src/finders/scan_finder.cpp
@@ -53,7 +53,7 @@ bool ScanFinder::init(const std::string& name,
   topic_name = node->declare_parameter<std::string>(name + ".topic", name + "/scan");
   subscriber_ = node->create_subscription<sensor_msgs::msg::LaserScan>(
     topic_name,
-    rclcpp::QoS(1).best_effort().keep_last(1),
+    rclcpp::QoS(1).best_effort(),
     std::bind(&ScanFinder::scanCallback, this, std::placeholders::_1));
 
   // Name of the sensor model that will be used during optimization