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diff drive controller's odom topic publishing with the wrong QOS profile #1284

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alireza-moayyedi opened this issue Sep 10, 2024 · 0 comments
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alireza-moayyedi commented Sep 10, 2024

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 (#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
@alireza-moayyedi alireza-moayyedi changed the title diff drive controller's odom and cmd_vel_unstamped topics publishing with the wrong QOS profile diff drive controller's odom topic publishing with the wrong QOS profile Sep 11, 2024
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