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Use 10sec lifespan in rosout publisher qos #587

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Mar 4, 2020
Merged

Use 10sec lifespan in rosout publisher qos #587

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Use 10sec lifespan in rosout publisher qos
ivanpauno Mar 3, 2020
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Address peer review comments
ivanpauno Mar 3, 2020
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Delete unrelated files
ivanpauno Mar 3, 2020
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3 changes: 3 additions & 0 deletions rcl/src/rcl/logging_rosout.c
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Original file line number Diff line number Diff line change
Expand Up @@ -173,8 +173,11 @@ rcl_ret_t rcl_logging_rosout_init_publisher_for_node(
const rosidl_message_type_support_t * type_support =
rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__Log();
rcl_publisher_options_t options = rcl_publisher_get_default_options();
// Late joining subscriptions get the last 10 seconds of logs, up to 1000 logs.
options.qos.depth = 1000;
options.qos.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
options.qos.lifespan.sec = 10;
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options.qos.lifespan.nsec = 0;
new_entry.publisher = rcl_get_zero_initialized_publisher();
status =
rcl_publisher_init(&new_entry.publisher, node, type_support, ROSOUT_TOPIC_NAME, &options);
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