New publisher discovered on topic, offering incompatible QoS.
I am trying to run a program to control a roomba with ROS using the messages from the IRobot repository (https://github.com/iRobotEducation/irobot_create_msgs). I am trying to get the wheel speed using the 'wheel_vels' topic, but am struggling to do this. My code looks like as such:
//within node definition class
self.subscription = self.createsubscription(WheelVels,'wheelvels' ,self.get_speed, 1)
self.current_speed= None
def get_speed(self,msg):
self.current_speed = msg.velocity_left
However, when I try to get speed, I get the following error: "New publisher discovered on topic 'wheel_vels', offering incompatible Qos. No messages will be received from it. Last incompatible policy: RELIABILITY"
How can I get past this error? I'm confused on what's causing it and how to fix it.
Asked by kwasi_dp on 2023-07-19 04:02:41 UTC
Comments
maybe try to increase your queue size in
from 1 to 10? I believe it is related to some of the documentation in this page: https://docs.ros.org/en/humble/Concepts/Intermediate/About-Quality-of-Service-Settings.html
Asked by sdu568 on 2023-07-19 19:26:05 UTC