Use sensor data qos for pointcloud (autowarefoundation#82)

Signed-off-by: Autoware <autoware@tier4.jp> Co-authored-by: Autoware <autoware@tier4.jp>
tkimura4 · Mar 11, 2021 · d2d85f7 · d2d85f7
1 parent bbc7b3f
commit d2d85f7
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Showing 7 changed files with 20 additions and 2 deletions.
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -406,7 +406,7 @@ Visualization Manager:
                 Depth: 5
                 Durability Policy: Volatile
                 History Policy: Keep Last
-                Reliability Policy: Reliable
+                Reliability Policy: Best Effort
                 Value: /sensing/lidar/concatenated/pointcloud
               Use Fixed Frame: false
               Use rainbow: true
@@ -439,7 +439,7 @@ Visualization Manager:
                 Depth: 5
                 Durability Policy: Volatile
                 History Policy: Keep Last
-                Reliability Policy: Reliable
+                Reliability Policy: Best Effort
                 Value: /sensing/lidar/no_ground/pointcloud
               Use Fixed Frame: true
               Use rainbow: true

diff --git a/sensing_launch/launch/aip_customized/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_customized/pointcloud_preprocessor.launch.py
@@ -129,6 +129,9 @@ def launch_setup(context, *args, **kwargs):
             "input_topic": "/sensing/lidar/top/rectified/pointcloud",
             "output_topic": "/sensing/lidar/pointcloud",
             "type": "sensor_msgs/msg/PointCloud2",
+            "history": "keep_last",
+            "depth": 5,
+            "reliability": "best_effort",
             'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }],
     )

diff --git a/sensing_launch/launch/aip_s1/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_s1/pointcloud_preprocessor.launch.py
@@ -129,6 +129,9 @@ def launch_setup(context, *args, **kwargs):
             "input_topic": "/sensing/lidar/top/rectified/pointcloud",
             "output_topic": "/sensing/lidar/pointcloud",
             "type": "sensor_msgs/msg/PointCloud2",
+            "history": "keep_last",
+            "depth": 5,
+            "reliability": "best_effort",
             'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }],
     )

diff --git a/sensing_launch/launch/aip_x1/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_x1/pointcloud_preprocessor.launch.py
@@ -265,6 +265,9 @@ def launch_setup(context, *args, **kwargs):
             "input_topic": "/sensing/lidar/top/outlier_filtered/pointcloud",
             "output_topic": "/sensing/lidar/pointcloud",
             "type": "sensor_msgs/msg/PointCloud2",
+            "history": "keep_last",
+            "depth": 5,
+            "reliability": "best_effort",
             'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }],
     )

diff --git a/sensing_launch/launch/aip_x2/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_x2/pointcloud_preprocessor.launch.py
@@ -131,6 +131,9 @@ def launch_setup(context, *args, **kwargs):
             "input_topic": "/sensing/lidar/top/rectified/pointcloud",
             "output_topic": "/sensing/lidar/pointcloud",
             "type": "sensor_msgs/msg/PointCloud2",
+            "history": "keep_last",
+            "depth": 5,
+            "reliability": "best_effort",
             'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }],
     )

diff --git a/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py
@@ -129,6 +129,9 @@ def launch_setup(context, *args, **kwargs):
             "input_topic": "/sensing/lidar/top/rectified/pointcloud",
             "output_topic": "/sensing/lidar/pointcloud",
             "type": "sensor_msgs/msg/PointCloud2",
+            "history": "keep_last",
+            "depth": 5,
+            "reliability": "best_effort",
             'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }],
     )

diff --git a/sensing_launch/launch/aip_xx2/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_xx2/pointcloud_preprocessor.launch.py
@@ -129,6 +129,9 @@ def launch_setup(context, *args, **kwargs):
             "input_topic": "/sensing/lidar/top/rectified/pointcloud",
             "output_topic": "/sensing/lidar/pointcloud",
             "type": "sensor_msgs/msg/PointCloud2",
+            "history": "keep_last",
+            "depth": 5,
+            "reliability": "best_effort",
             'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }],
     )