fix: use transient_local qos for route (#149)

* fix: use transient_local qos for route Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
autowarefoundation · Jan 13, 2022 · 244268b · 244268b
1 parent 3e27b12
commit 244268b
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Showing 3 changed files with 4 additions and 3 deletions.
diff --git a/perception/traffic_light_map_based_detector/src/node.cpp b/perception/traffic_light_map_based_detector/src/node.cpp
@@ -103,7 +103,8 @@ MapBasedDetector::MapBasedDetector(const rclcpp::NodeOptions & node_options)
     "~/input/camera_info", rclcpp::SensorDataQoS(),
     std::bind(&MapBasedDetector::cameraInfoCallback, this, _1));
   route_sub_ = create_subscription<autoware_auto_planning_msgs::msg::HADMapRoute>(
-    "~/input/route", 1, std::bind(&MapBasedDetector::routeCallback, this, _1));
+    "~/input/route", rclcpp::QoS{1}.transient_local(),
+    std::bind(&MapBasedDetector::routeCallback, this, _1));
 
   // publishers
   roi_pub_ = this->create_publisher<autoware_auto_perception_msgs::msg::TrafficLightRoiArray>(

diff --git a/planning/mission_planner/src/goal_pose_visualizer/goal_pose_visualizer.cpp b/planning/mission_planner/src/goal_pose_visualizer/goal_pose_visualizer.cpp
@@ -20,7 +20,7 @@ GoalPoseVisualizer::GoalPoseVisualizer(const rclcpp::NodeOptions & node_options)
 : Node("goal_pose_visualizer_node", node_options)
 {
   sub_route_ = create_subscription<autoware_auto_planning_msgs::msg::HADMapRoute>(
-    "input/route", rclcpp::QoS{1},
+    "input/route", rclcpp::QoS{1}.transient_local(),
     std::bind(&GoalPoseVisualizer::echoBackRouteCallback, this, std::placeholders::_1));
   pub_goal_pose_ = create_publisher<geometry_msgs::msg::PoseStamped>(
     "output/goal_pose", rclcpp::QoS{1}.transient_local());

diff --git a/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp b/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp
@@ -346,7 +346,7 @@ ScenarioSelectorNode::ScenarioSelectorNode(const rclcpp::NodeOptions & node_opti
     "input/lanelet_map", rclcpp::QoS{1}.transient_local(),
     std::bind(&ScenarioSelectorNode::onMap, this, std::placeholders::_1));
   sub_route_ = this->create_subscription<autoware_auto_planning_msgs::msg::HADMapRoute>(
-    "input/route", rclcpp::QoS{1},
+    "input/route", rclcpp::QoS{1}.transient_local(),
     std::bind(&ScenarioSelectorNode::onRoute, this, std::placeholders::_1));
   sub_odom_ = this->create_subscription<nav_msgs::msg::Odometry>(
     "input/odometry", rclcpp::QoS{100},