fix(behavior_velocity_limit): update velocity limit qos (to Transient…

…Lodal) (tier4#1095) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
boyali · Oct 3, 2022 · 81d25c5 · 81d25c5
1 parent 931acf4
commit 81d25c5
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/src/node.cpp
@@ -131,7 +131,7 @@ BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode(const rclcpp::NodeOptio
       "~/input/external_intersection_states", 10,
       std::bind(&BehaviorVelocityPlannerNode::onExternalIntersectionStates, this, _1));
   sub_external_velocity_limit_ = this->create_subscription<VelocityLimit>(
-    "~/input/external_velocity_limit_mps", 1,
+    "~/input/external_velocity_limit_mps", rclcpp::QoS{1}.transient_local(),
     std::bind(&BehaviorVelocityPlannerNode::onExternalVelocityLimit, this, _1));
   sub_external_traffic_signals_ =
     this->create_subscription<autoware_auto_perception_msgs::msg::TrafficSignalArray>(