add qos overrides for finders (#174)

this is primarily a workaround for the issues seen
in jazzy where large topics do not come through
over best effort subscribers.

robot_calibration/src/finders/checkerboard_finder.cpp

@@ -52,10 +52,13 @@ bool CheckerboardFinder<T>::init(const std::string& name,
   // Setup subscriber
   std::string topic_name;
   topic_name = node->declare_parameter<std::string>(name + ".topic", name + "/points");
+  rclcpp::SubscriptionOptions options;
+  options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
   subscriber_ = node->create_subscription<T>(
     topic_name,
     rclcpp::QoS(1).best_effort().keep_last(1),
-    std::bind(&CheckerboardFinder::cameraCallback, this, std::placeholders::_1));
+    std::bind(&CheckerboardFinder::cameraCallback, this, std::placeholders::_1),
+    options);
 
   // Size of checkerboard
   points_x_ = node->declare_parameter<int>(name + ".points_x", 5);

robot_calibration/src/finders/led_finder.cpp

@@ -69,10 +69,13 @@ bool LedFinder::init(const std::string& name,
 
   // Setup subscriber
   topic_name = node->declare_parameter<std::string>(name + ".topic", name + "/points");
+  rclcpp::SubscriptionOptions options;
+  options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
   subscriber_ = node->create_subscription<sensor_msgs::msg::PointCloud2>(
     topic_name,
     rclcpp::QoS(1).best_effort(),
-    std::bind(&LedFinder::cameraCallback, this, std::placeholders::_1));
+    std::bind(&LedFinder::cameraCallback, this, std::placeholders::_1),
+    options);
 
   // Publish where LEDs were seen
   publisher_ = node->create_publisher<sensor_msgs::msg::PointCloud2>(name + "_points", 10);

robot_calibration/src/finders/plane_finder.cpp

@@ -106,10 +106,13 @@ bool PlaneFinder::init(const std::string& name,
   // We subscribe to a PointCloud2
   std::string topic_name =
     node->declare_parameter<std::string>(name + ".topic", name + "/points");
+  rclcpp::SubscriptionOptions options;
+  options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
   subscriber_ = node->create_subscription<sensor_msgs::msg::PointCloud2>(
     topic_name,
     rclcpp::QoS(1).best_effort(),
-    std::bind(&PlaneFinder::cameraCallback, this, std::placeholders::_1));
+    std::bind(&PlaneFinder::cameraCallback, this, std::placeholders::_1),
+    options);
 
   // Name of the sensor model that will be used during optimization
   plane_sensor_name_ = node->declare_parameter<std::string>(name + ".camera_sensor_name", "camera");

robot_calibration/src/finders/scan_finder.cpp

@@ -51,10 +51,13 @@ bool ScanFinder::init(const std::string& name,
   // We subscribe to a LaserScan
   std::string topic_name;
   topic_name = node->declare_parameter<std::string>(name + ".topic", name + "/scan");
+  rclcpp::SubscriptionOptions options;
+  options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
   subscriber_ = node->create_subscription<sensor_msgs::msg::LaserScan>(
     topic_name,
     rclcpp::QoS(1).best_effort(),
-    std::bind(&ScanFinder::scanCallback, this, std::placeholders::_1));
+    std::bind(&ScanFinder::scanCallback, this, std::placeholders::_1),
+    options);
 
   // Name of the sensor model that will be used during optimization
   laser_sensor_name_ = node->declare_parameter<std::string>(name + ".sensor_name", "laser");