From 5d1b64a183b21ba92c714f1fc942fed4f07db38e Mon Sep 17 00:00:00 2001 From: Murat Date: Tue, 6 Sep 2022 10:17:14 +0300 Subject: [PATCH] RELIABILITY_QOS_POLICY for camera_info Component container return below message when work on Gazebo simulation: [component_container-1] [WARN] [1662381267.101849583] [visual_slam_node]: New publisher discovered on topic '/infra2/camera_info', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY So, i add image_qos_ to camera info. --- isaac_ros_visual_slam/src/visual_slam_node.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/isaac_ros_visual_slam/src/visual_slam_node.cpp b/isaac_ros_visual_slam/src/visual_slam_node.cpp index 120f4e5..520d15b 100644 --- a/isaac_ros_visual_slam/src/visual_slam_node.cpp +++ b/isaac_ros_visual_slam/src/visual_slam_node.cpp @@ -76,11 +76,11 @@ VisualSlamNode::VisualSlamNode(rclcpp::NodeOptions options) left_image_sub_(message_filters::Subscriber( this, "stereo_camera/left/image", image_qos_)), left_camera_info_sub_(message_filters::Subscriber( - this, "stereo_camera/left/camera_info")), + this, "stereo_camera/left/camera_info", image_qos_)), right_image_sub_(message_filters::Subscriber( this, "stereo_camera/right/image", image_qos_)), right_camera_info_sub_(message_filters::Subscriber( - this, "stereo_camera/right/camera_info")), + this, "stereo_camera/right/camera_info", image_qos_)), imu_sub_(create_subscription( "visual_slam/imu", rclcpp::QoS(100), std::bind(&VisualSlamNode::ReadImuData, this, std::placeholders::_1))),