fixing trasient_local in ROS2 packages (autowarefoundation#160)

localization/pose_estimator/ndt_scan_matcher/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp

@@ -101,7 +101,7 @@ NDTScanMatcher::NDTScanMatcher()
     "ekf_pose_with_covariance", 100,
     std::bind(&NDTScanMatcher::callbackInitialPose, this, std::placeholders::_1));
   map_points_sub_ = this->create_subscription<sensor_msgs::msg::PointCloud2>(
-    "pointcloud_map", 1,
+    "pointcloud_map", rclcpp::QoS{1}.transient_local(),
     std::bind(&NDTScanMatcher::callbackMapPoints, this, std::placeholders::_1));
   sensor_points_sub_ = this->create_subscription<sensor_msgs::msg::PointCloud2>(
     "points_raw", 1, std::bind(&NDTScanMatcher::callbackSensorPoints, this, std::placeholders::_1));

localization/util/pose_initializer/src/pose_initializer_core.cpp

@@ -50,7 +50,7 @@ PoseInitializer::PoseInitializer()
     "initialpose", 10,
     std::bind(&PoseInitializer::callbackInitialPose, this, std::placeholders::_1));
   map_points_sub_ = this->create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>(
-    "pointcloud_map", 1,
+    "pointcloud_map", rclcpp::QoS{1}.transient_local(),
     std::bind(&PoseInitializer::callbackMapPoints, this, std::placeholders::_1));
 
   const bool use_first_gnss_topic = this->declare_parameter("use_first_gnss_topic", true);

map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization.cpp

@@ -127,7 +127,7 @@ int main(int argc, char ** argv)
   rclcpp::init(argc, argv);
   auto node = rclcpp::Node::make_shared("lanelet2_map_visualizer");
   auto bin_map_sub = node->create_subscription<autoware_lanelet2_msgs::msg::MapBin>(
-    "input/lanelet2_map", rclcpp::QoS{1}, std::bind(&binMapCallback, std::placeholders::_1));
+    "input/lanelet2_map", rclcpp::QoS{1}.transient_local(), std::bind(&binMapCallback, std::placeholders::_1));
 
   rclcpp::QoS durable_qos{1};
   durable_qos.transient_local();

map/map_tf_generator/nodes/map_tf_generator.cpp

@@ -32,7 +32,7 @@ class MapTFGenerator : public rclcpp::Node
     viewer_frame_ = declare_parameter("viewer_frame", "viewer");
 
     sub_ = create_subscription<sensor_msgs::msg::PointCloud2>(
-      "pointcloud_map", rclcpp::QoS{1},
+      "pointcloud_map", rclcpp::QoS{1}.transient_local(),
       std::bind(&MapTFGenerator::Callback, this, std::placeholders::_1));
 
     static_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(this);

perception/object_recognition/prediction/map_based_prediction/src/map_based_prediction_ros.cpp

@@ -196,7 +196,7 @@ MapBasedPredictionROS::MapBasedPredictionROS()
     "/perception/object_recognition/tracking/objects", 1,
     std::bind(&MapBasedPredictionROS::objectsCallback, this, std::placeholders::_1));
   sub_map_ = this->create_subscription<autoware_lanelet2_msgs::msg::MapBin>(
-    "/vector_map", 10,
+    "/vector_map", rclcpp::QoS{10}.transient_local(),
     std::bind(&MapBasedPredictionROS::mapCallback, this, std::placeholders::_1));
 
   pub_objects_ = this->create_publisher<autoware_perception_msgs::msg::DynamicObjectArray>(

perception/traffic_light_recognition/traffic_light_map_based_detector/src/node.cpp

@@ -47,7 +47,7 @@ namespace traffic_light
 
   // subscribers
   map_sub_ = create_subscription<autoware_lanelet2_msgs::msg::MapBin>(
-    "input/vector_map", 1, std::bind(&MapBasedDetector::mapCallback, this, _1));
+    "input/vector_map", rclcpp::QoS{1}.transient_local(), std::bind(&MapBasedDetector::mapCallback, this, _1));
   camera_info_sub_ = create_subscription<sensor_msgs::msg::CameraInfo>(
     "input/camera_info", 1, std::bind(&MapBasedDetector::cameraInfoCallback, this, _1));
   route_sub_ = create_subscription<autoware_planning_msgs::msg::Route>(

planning/mission_planning/mission_planner/src/mission_planner_lanelet2/mission_planner_lanelet2.cpp

@@ -126,7 +126,7 @@ MissionPlannerLanelet2::MissionPlannerLanelet2()
 {
   using std::placeholders::_1;
   map_subscriber_ = create_subscription<autoware_lanelet2_msgs::msg::MapBin>(
-    "input/vector_map", 10, std::bind(
+    "input/vector_map", rclcpp::QoS{10}.transient_local(), std::bind(
       &MissionPlannerLanelet2::mapCallback, this,
       _1));
 }

planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/node.cpp

@@ -84,7 +84,7 @@ BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode()
     "input/vehicle_velocity", 1,
     std::bind(&BehaviorVelocityPlannerNode::onVehicleVelocity, this, _1));
   sub_lanelet_map_ = this->create_subscription<autoware_lanelet2_msgs::msg::MapBin>(
-    "input/vector_map", 10, std::bind(&BehaviorVelocityPlannerNode::onLaneletMap, this, _1));
+    "input/vector_map", rclcpp::QoS(10).transient_local(), std::bind(&BehaviorVelocityPlannerNode::onLaneletMap, this, _1));
   sub_traffic_light_states_ =
     this->create_subscription<autoware_perception_msgs::msg::TrafficLightStateArray>(
     "input/traffic_light_states", 10,

planning/scenario_planning/lane_driving/behavior_planning/lane_change_planner/src/lane_changer.cpp

@@ -110,7 +110,7 @@ void LaneChanger::init()
   // route_handler
   vector_map_subscriber_ =
     create_subscription<autoware_lanelet2_msgs::msg::MapBin>(
-    "input/vector_map", rclcpp::QoS{1}, std::bind(
+    "input/vector_map", rclcpp::QoS{1}.transient_local(), std::bind(
       &RouteHandler::mapCallback, &(*route_handler_ptr_),
       std::placeholders::_1));
   route_subscriber_ =

planning/scenario_planning/lane_driving/behavior_planning/turn_signal_decider/src/turn_signal_decider_core.cpp

@@ -49,7 +49,7 @@ TurnSignalDecider::TurnSignalDecider(
     "input/path_with_lane_id", rclcpp::QoS{1},
     std::bind(&DataManager::onPathWithLaneId, &data_, _1));
   map_subscription_ = this->create_subscription<autoware_lanelet2_msgs::msg::MapBin>(
-    "input/vector_map", rclcpp::QoS{1}, std::bind(&DataManager::onLaneletMap, &data_, _1));
+    "input/vector_map", rclcpp::QoS{1}.transient_local(), std::bind(&DataManager::onLaneletMap, &data_, _1));
 
   // get ROS parameters
   parameters_.lane_change_search_distance = this->declare_parameter(

planning/scenario_planning/parking/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp

@@ -120,7 +120,7 @@ CostmapGenerator::CostmapGenerator()
   sub_points_ = this->create_subscription<sensor_msgs::msg::PointCloud2>(
     "input/points_no_ground", 1, std::bind(&CostmapGenerator::onPoints, this, _1));
   sub_lanelet_bin_map_ = this->create_subscription<autoware_lanelet2_msgs::msg::MapBin>(
-    "input/vector_map", 1, std::bind(&CostmapGenerator::onLaneletMapBin, this, _1));
+    "input/vector_map", rclcpp::QoS(1).transient_local(), std::bind(&CostmapGenerator::onLaneletMapBin, this, _1));
   sub_scenario_ = this->create_subscription<autoware_planning_msgs::msg::Scenario>(
     "input/scenario", 1, std::bind(&CostmapGenerator::onScenario, this, _1));
 

planning/scenario_planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp

@@ -318,7 +318,7 @@ ScenarioSelectorNode::ScenarioSelectorNode()
       "input/parking/trajectory", rclcpp::QoS{1}, createCallback(&input_parking_.buf_trajectory));
 
   sub_lanelet_map_ = this->create_subscription<autoware_lanelet2_msgs::msg::MapBin>(
-    "input/lanelet_map", rclcpp::QoS{1},
+    "input/lanelet_map", rclcpp::QoS{1}.transient_local(),
     std::bind(&ScenarioSelectorNode::onMap, this, std::placeholders::_1));
   sub_route_ = this->create_subscription<autoware_planning_msgs::msg::Route>(
     "input/route", rclcpp::QoS{1},