fix: remove transient local setting from mrm state publisher

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
tier4 · Jul 4, 2024 · 2639a19 · 2639a19
1 parent 8a2af61
commit 2639a19
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Showing 2 changed files with 1 addition and 2 deletions.
diff --git a/system/mrm_stop_operator/config/mrm_stop_operator.param.yaml b/system/mrm_stop_operator/config/mrm_stop_operator.param.yaml
@@ -3,4 +3,3 @@
     min_acceleration: -4.0  # min acceleration for sub ecu mrm stop [m/s^2]
     max_jerk: 5.0           # max jerk for sub ecu mrm stop [m/s^3]
     min_jerk: -5.0          # min jerk for sub ecu mrm stop [m/s^3]
-
diff --git a/system/mrm_stop_operator/src/mrm_stop_operator.cpp b/system/mrm_stop_operator/src/mrm_stop_operator.cpp
@@ -46,7 +46,7 @@ MrmStopOperator::MrmStopOperator(const rclcpp::NodeOptions & node_options)
       "~/output/velocity_limit_clear_command", rclcpp::QoS{10}.transient_local());
   pub_mrm_state_ =
     create_publisher<tier4_system_msgs::msg::MrmState>(
-      "~/output/mrm_state", rclcpp::QoS{1}.transient_local());
+      "~/output/mrm_state", rclcpp::QoS{1});
 
 
   // Timer
Original file line number	Diff line number	Diff line change
Expand Up		@@ -3,4 +3,3 @@
		min_acceleration: -4.0 # min acceleration for sub ecu mrm stop [m/s^2]
		max_jerk: 5.0 # max jerk for sub ecu mrm stop [m/s^3]
		min_jerk: -5.0 # min jerk for sub ecu mrm stop [m/s^3]