From 717329c492c3f0b770c5d06db75efb8b599e9ca2 Mon Sep 17 00:00:00 2001 From: Sebastian Castro Date: Sat, 29 Oct 2022 15:41:40 -0400 Subject: [PATCH] Update deprecated QoS settings --- py_trees_ros_viewer/utilities.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/py_trees_ros_viewer/utilities.py b/py_trees_ros_viewer/utilities.py index 5b66a6b..13c6696 100644 --- a/py_trees_ros_viewer/utilities.py +++ b/py_trees_ros_viewer/utilities.py @@ -60,10 +60,10 @@ def qos_profile_latched() -> rclpy.qos.QoSProfile: Convenience retrieval for a latched topic (publisher / subscriber) """ return rclpy.qos.QoSProfile( - history=rclpy.qos.QoSHistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_LAST, + history=rclpy.qos.QoSHistoryPolicy.KEEP_LAST, depth=1, - durability=rclpy.qos.QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL, - reliability=rclpy.qos.QoSReliabilityPolicy.RMW_QOS_POLICY_RELIABILITY_RELIABLE + durability=rclpy.qos.QoSDurabilityPolicy.TRANSIENT_LOCAL, + reliability=rclpy.qos.QoSReliabilityPolicy.RELIABLE )