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

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Feb 28, 2020
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make rosout publisher transient local with a depth of 1000 #582

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2 changes: 2 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 @@ -173,6 +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);
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