From 9c098e544ecf191b7c61f63f7f4fac6f6449cedd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Thu, 9 Nov 2023 23:09:18 +0300 Subject: [PATCH] fix(rclcpp_components): increase the service queue sizes in component_container (#2363) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * fix(rclcpp_components): increase the service queue sizes in component_container Signed-off-by: M. Fatih Cırıt --- rclcpp_components/src/component_manager.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/rclcpp_components/src/component_manager.cpp b/rclcpp_components/src/component_manager.cpp index 036350a64f..7b77af9c92 100644 --- a/rclcpp_components/src/component_manager.cpp +++ b/rclcpp_components/src/component_manager.cpp @@ -39,10 +39,12 @@ ComponentManager::ComponentManager( { loadNode_srv_ = create_service( "~/_container/load_node", - std::bind(&ComponentManager::on_load_node, this, _1, _2, _3)); + std::bind(&ComponentManager::on_load_node, this, _1, _2, _3), + rclcpp::ServicesQoS().keep_last(200)); unloadNode_srv_ = create_service( "~/_container/unload_node", - std::bind(&ComponentManager::on_unload_node, this, _1, _2, _3)); + std::bind(&ComponentManager::on_unload_node, this, _1, _2, _3), + rclcpp::ServicesQoS().keep_last(200)); listNodes_srv_ = create_service( "~/_container/list_nodes", std::bind(&ComponentManager::on_list_nodes, this, _1, _2, _3));