From 74a1e7f228c01fbb80f7c36696aac1ddf43c22f3 Mon Sep 17 00:00:00 2001 From: Dirk Thomas Date: Fri, 28 Feb 2020 13:38:49 -0800 Subject: [PATCH] make rosout publisher transient local with a depth of 1000 (#582) Signed-off-by: Dirk Thomas --- rcl/src/rcl/logging_rosout.c | 2 ++ 1 file changed, 2 insertions(+) diff --git a/rcl/src/rcl/logging_rosout.c b/rcl/src/rcl/logging_rosout.c index 879b1ab91..9929c00b5 100644 --- 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);