How do I create a QoS profile that configures a latching topic in ros2, and then instantiate a publisher for it.

I'm struggling to find good documentation on how to instantiate QoS profiles and new topics with them with rclcpp.

Can you show how I would define a new QoS profile in C++, and then use that profile to create a new publisher?

Asked by lexi on 2023-04-24 14:08:53 UTC