diff drive controller's odom topic publishing with the wrong QOS profile

[alireza-moayyedi]

Describe the bug

Hello, looking at the code (https://github.com/ros-controls/ros2_controllers/blob/humble/diff_drive_controller/src/diff_drive_controller.cpp#L390C1-L391C1) I would expect the /diff_drive_base_controller/odom to be published with the SystemDefaultsQoS settings. However, when I inspect it, it is set to TRANSIENT_LOCAL and RELIABLE. I have tested this accross two different computers with both simulation as well as real robot and both were the same.

I noticed a similar issue reported in (https://github.com/ros-controls/ros2_controllers/issues/745) but I took a quick look and couldn't find anything strange with https://github.com/ros-controls/realtime_tools/blob/master/include/realtime_tools/realtime_publisher.h

To Reproduce

ros2 topic info /diff_drive_base_controller/odom -v

If you want to quickly run a demo you can just run the gazebo's demo: ros2 launch gazebo_ros2_control_demos diff_drive.launch.py

Environment:

• OS: Ubuntu 22
• Version Humble