[collision monitor] Transient local durability for subscription to polygon topic #4198
Description
Feature request
Feature description
The collision_monitor node can subscribe to topics defined in parameter <polygon_name>.polygon_sub_topic. When receiving a new message on this topic, the associated polygon is updated. It seems a reasonable design that this topic only published on change. In this case, the subscriber to this topic should have transient local durability QoS, in order to be sure to catch the first message published on topic.
Implementation considerations
The collision_monitor subscriptions to topics <polygon_name>.polygon_sub_topic could be changed to have a transient local durability QoS.
But this change can break QoS compatibility. If the publisher has a volatile durability, the collision_monitor won't receive the messages (if the subscription has transient local durability).