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Published 20 hours ago • verified publisher icon mROS-base

need to implement QoS feature for RELIABILITY, to observe msg by rqt

Open takasehideki opened this issue 2 years ago • 1 comments

When we want to observe msg by rqt, the following log occurs and it cannot be observed on Topic Monitor.

$ rqt 
[WARN] [1694593985.541597582] [rqt_gui_py_node_1735161]: New publisher discovered on topic '/to_linux', offering incompatible QoS. No messages will be received from it. Last incompatible policy: RELIABILITY

Screenshot from 2023-09-13 17-36-33

This is because the default QoS policy for rqt (and rviz) is set to RELIABILITY, maybe from Galactic. https://github.com/ros-visualization/rqt/issues/187 https://answers.ros.org/question/358669/problem-to-read-topics-with-sensorqos-in-rviz-and-rqt/

So, we need to implement the feature to select QoS policy to RELIABLE, or set the default to RELIABLE. Fortunately, embeddedRTPS offers BEST_EFFORT and RELIABLE as selectable QoS policies.

takasehideki avatar Sep 13 '23 08:09 takasehideki