From df5aa873a9477b176e6e29177d84d186cae7b883 Mon Sep 17 00:00:00 2001
From: Timon Engelke <timonegk@users.noreply.github.com>
Date: Thu, 28 Mar 2024 16:21:06 +0100
Subject: [PATCH] Change durability policy of mesh display to transient_local
 (#36)

Co-authored-by: Timon Engelke <timon.engelke@dlr.de>
---
 launch/reach_study_config.rviz | 2 +-
 src/display/ros_display.cpp    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/launch/reach_study_config.rviz b/launch/reach_study_config.rviz
index d76d0a6..0950a1c 100644
--- 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
index 138bbc4..5ea23da 100644
--- 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);
 }