Change durability policy of mesh display to transient_local (#36)

Co-authored-by: Timon Engelke <timon.engelke@dlr.de>
ros-industrial · Mar 28, 2024 · df5aa87 · df5aa87
1 parent 60dfa15
commit df5aa87
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/launch/reach_study_config.rviz b/launch/reach_study_config.rviz
@@ -127,7 +127,7 @@ Visualization Manager:
         "": true
       Topic:
         Depth: 5
-        Durability Policy: Volatile
+        Durability Policy: Transient Local
         Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable

diff --git a/src/display/ros_display.cpp b/src/display/ros_display.cpp
@@ -43,7 +43,7 @@ ROSDisplay::ROSDisplay(std::string kinematic_base_frame, double marker_scale, bo
   joint_state_pub_ =
       reach_ros::utils::getNodeInstance()->create_publisher<sensor_msgs::msg::JointState>(JOINT_STATES_TOPIC, 1);
   mesh_pub_ =
-      reach_ros::utils::getNodeInstance()->create_publisher<visualization_msgs::msg::Marker>(MESH_MARKER_TOPIC, 1);
+      reach_ros::utils::getNodeInstance()->create_publisher<visualization_msgs::msg::Marker>(MESH_MARKER_TOPIC, rclcpp::QoS(1).transient_local());
   neighbors_pub_ =
       reach_ros::utils::getNodeInstance()->create_publisher<visualization_msgs::msg::Marker>(NEIGHBORS_MARKER_TOPIC, 1);
 }