make rosout publisher transient local with a depth of 1000 (#582)

Signed-off-by: Dirk Thomas <[email protected]>
ros2 · Feb 28, 2020 · 74a1e7f · 74a1e7f
1 parent 4dbf20d
commit 74a1e7f
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/rcl/src/rcl/logging_rosout.c b/rcl/src/rcl/logging_rosout.c
@@ -173,6 +173,8 @@ 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();
+  options.qos.depth = 1000;
+  options.qos.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
   new_entry.publisher = rcl_get_zero_initialized_publisher();
   status =
     rcl_publisher_init(&new_entry.publisher, node, type_support, ROSOUT_TOPIC_NAME, &options);