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1 | initial version |
Python code for those who are still in doubt about how to implement the qos_profile_sensor_data
for the subscriber of a 2d lidar (found here):
from sensor_msgs.msg import LaserScan
(...)
qos_policy = rclpy.qos.QoSProfile(reliability=rclpy.qos.ReliabilityPolicy.BEST_EFFORT, history=rclpy.qos.HistoryPolicy.KEEP_LAST, depth=1)
self.subscription = self.create_subscription(LaserScan, 'scan', self.listener_callback, qos_profile=qos_policy)