update plugin subscribers to use all of qos (#827)

Co-authored-by: Ben <[email protected]> Co-authored-by: David Anthony <[email protected]>
swri-robotics · Aug 29, 2024 · df6ae20 · df6ae20
1 parent 7946f91
commit df6ae20
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Showing 13 changed files with 24 additions and 24 deletions.
diff --git a/mapviz_plugins/src/attitude_indicator_plugin.cpp b/mapviz_plugins/src/attitude_indicator_plugin.cpp
@@ -121,15 +121,15 @@ namespace mapviz_plugins
       {
         odom_sub_ = node_->create_subscription<nav_msgs::msg::Odometry>(
             topic_,
-            rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+            rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
             std::bind(&AttitudeIndicatorPlugin::AttitudeCallbackOdom, this, std::placeholders::_1));
         imu_sub_ = node_->create_subscription<sensor_msgs::msg::Imu>(
             topic_,
-            rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+            rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
             std::bind(&AttitudeIndicatorPlugin::AttitudeCallbackImu, this, std::placeholders::_1));
         pose_sub_ = node_->create_subscription<geometry_msgs::msg::Pose>(
             topic_,
-            rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+            rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
             std::bind(&AttitudeIndicatorPlugin::AttitudeCallbackPose, this, std::placeholders::_1));
 
         RCLCPP_INFO(node_->get_logger(), "Subscribing to %s", topic_.c_str());

diff --git a/mapviz_plugins/src/disparity_plugin.cpp b/mapviz_plugins/src/disparity_plugin.cpp
@@ -220,7 +220,7 @@ namespace mapviz_plugins
       {
         disparity_sub_ = node_->create_subscription<stereo_msgs::msg::DisparityImage>(
           topic_,
-          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
           std::bind(&DisparityPlugin::disparityCallback, this, std::placeholders::_1)
         );
 

diff --git a/mapviz_plugins/src/float_plugin.cpp b/mapviz_plugins/src/float_plugin.cpp
@@ -352,31 +352,31 @@ namespace mapviz_plugins
       {
         float32_sub_ = node_->create_subscription<std_msgs::msg::Float32>(
           topic_,
-          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
             [this](const std_msgs::msg::Float32::ConstSharedPtr msg) {
           floatCallback(msg->data);
         });
         float64_sub_ = node_->create_subscription<std_msgs::msg::Float64>(
           topic_,
-          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
             [this](const std_msgs::msg::Float64::ConstSharedPtr msg) {
           floatCallback(msg->data);
         });
         float32_stamped_sub_ = node_->create_subscription<marti_common_msgs::msg::Float32Stamped>(
           topic_,
-          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
             [this](const marti_common_msgs::msg::Float32Stamped::ConstSharedPtr msg) {
           floatCallback(msg->value);
         });
         float64_stamped_sub_ = node_->create_subscription<marti_common_msgs::msg::Float64Stamped>(
           topic_,
-          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
             [this](const marti_common_msgs::msg::Float64Stamped::ConstSharedPtr msg) {
           floatCallback(msg->value);
         });
         velocity_sub_ = node_->create_subscription<marti_sensor_msgs::msg::Velocity>(
           topic_,
-          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
             [this](const marti_sensor_msgs::msg::Velocity::ConstSharedPtr msg) {
           floatCallback(msg->velocity);
         });

diff --git a/mapviz_plugins/src/gps_plugin.cpp b/mapviz_plugins/src/gps_plugin.cpp
@@ -126,7 +126,7 @@ namespace mapviz_plugins
       {
         gps_sub_ = node_->create_subscription<gps_msgs::msg::GPSFix>(
           topic_,
-          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
           std::bind(&GpsPlugin::GPSFixCallback, this, std::placeholders::_1));
 
         RCLCPP_INFO(node_->get_logger(), "Subscribing to %s", topic_.c_str());

diff --git a/mapviz_plugins/src/laserscan_plugin.cpp b/mapviz_plugins/src/laserscan_plugin.cpp
@@ -288,7 +288,7 @@ namespace mapviz_plugins
       {
         laserscan_sub_ = node_->create_subscription<sensor_msgs::msg::LaserScan>(
           topic_,
-          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
           std::bind(&LaserScanPlugin::laserScanCallback, this, std::placeholders::_1)
         );
 

diff --git a/mapviz_plugins/src/marker_plugin.cpp b/mapviz_plugins/src/marker_plugin.cpp
@@ -137,14 +137,14 @@ namespace mapviz_plugins
         {
           marker_sub_ = node_->create_subscription<visualization_msgs::msg::Marker>(
             topic_,
-            rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+            rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
             std::bind(&MarkerPlugin::handleMarker, this, std::placeholders::_1));
         }
         else if (topic_type == "visualization_msgs/msg/MarkerArray")
         {
           marker_array_sub_ = node_->create_subscription<visualization_msgs::msg::MarkerArray>(
             topic_,
-            rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+            rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
             std::bind(&MarkerPlugin::handleMarkerArray, this, std::placeholders::_1));
         }
         else

diff --git a/mapviz_plugins/src/navsat_plugin.cpp b/mapviz_plugins/src/navsat_plugin.cpp
@@ -117,7 +117,7 @@ namespace mapviz_plugins
       {
         navsat_sub_ = node_->create_subscription<sensor_msgs::msg::NavSatFix>(
             topic_,
-            rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+            rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
             std::bind(&NavSatPlugin::NavSatFixCallback, this, std::placeholders::_1));
 
         RCLCPP_INFO(node_->get_logger(), "Subscribing to %s", topic_.c_str());

diff --git a/mapviz_plugins/src/occupancy_grid_plugin.cpp b/mapviz_plugins/src/occupancy_grid_plugin.cpp
@@ -266,13 +266,13 @@ namespace mapviz_plugins
       {
         grid_sub_ = node_->create_subscription<nav_msgs::msg::OccupancyGrid>(
           topic,
-          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
           std::bind(&OccupancyGridPlugin::Callback, this, std::placeholders::_1));
         if(ui_.checkbox_update->isChecked())
         {
           update_sub_ = node_->create_subscription<map_msgs::msg::OccupancyGridUpdate>(
             topic,
-            rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+            rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
             std::bind(&OccupancyGridPlugin::CallbackUpdate, this, std::placeholders::_1));
         }
         RCLCPP_INFO(node_->get_logger(), "Subscribing to %s", topic.c_str());

diff --git a/mapviz_plugins/src/odometry_plugin.cpp b/mapviz_plugins/src/odometry_plugin.cpp
@@ -140,7 +140,7 @@ namespace mapviz_plugins
       {
         odometry_sub_ = node_->create_subscription<nav_msgs::msg::Odometry>(
           topic_,
-          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
           std::bind(&OdometryPlugin::odometryCallback, this, std::placeholders::_1));
 
         RCLCPP_INFO(node_->get_logger(), "Subscribing to %s", topic_.c_str());

diff --git a/mapviz_plugins/src/path_plugin.cpp b/mapviz_plugins/src/path_plugin.cpp
@@ -113,7 +113,7 @@ namespace mapviz_plugins
       {
         path_sub_ = node_->create_subscription<nav_msgs::msg::Path>(
           topic_,
-          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
           std::bind(&PathPlugin::pathCallback, this, std::placeholders::_1)
         );
         RCLCPP_INFO(node_->get_logger(), "Subscribing to %s", topic_.c_str());

diff --git a/mapviz_plugins/src/route_plugin.cpp b/mapviz_plugins/src/route_plugin.cpp
@@ -181,7 +181,7 @@ namespace mapviz_plugins
         route_sub_ =
             node_->create_subscription<marti_nav_msgs::msg::Route>(
               topic_,
-              rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+              rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
               std::bind(&RoutePlugin::RouteCallback, this, std::placeholders::_1)
             );
 
@@ -210,7 +210,7 @@ namespace mapviz_plugins
         position_qos_ = qos;
         position_sub_ = node_->create_subscription<marti_nav_msgs::msg::RoutePosition>(
           topic_,
-          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
           std::bind(&RoutePlugin::PositionCallback, this, std::placeholders::_1)
         );
 

diff --git a/mapviz_plugins/src/string_plugin.cpp b/mapviz_plugins/src/string_plugin.cpp
@@ -359,7 +359,7 @@ namespace mapviz_plugins
         try
         {
           string_sub_ = node_->create_subscription<std_msgs::msg::String>(topic_,
-            rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+            rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
               [this](const std_msgs::msg::String::ConstSharedPtr str) {
             SetText(QString(str->data.c_str()));
           });
@@ -374,7 +374,7 @@ namespace mapviz_plugins
         try
         {
           string_stamped_sub_ = node_->create_subscription<marti_common_msgs::msg::StringStamped>(topic_,
-            rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+            rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
               [this](const marti_common_msgs::msg::StringStamped::ConstSharedPtr str) {
             SetText(QString(str->value.c_str()));
           });

diff --git a/mapviz_plugins/src/textured_marker_plugin.cpp b/mapviz_plugins/src/textured_marker_plugin.cpp
@@ -161,12 +161,12 @@ void TexturedMarkerPlugin::connectCallback(const std::string& topic, const rmw_q
       marker_arr_sub_ =
         node_->create_subscription<marti_visualization_msgs::msg::TexturedMarkerArray>(
         topic_,
-        rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+        rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
         std::bind(&TexturedMarkerPlugin::MarkerArrayCallback, this, std::placeholders::_1)
         );
       marker_sub_ = node_->create_subscription<marti_visualization_msgs::msg::TexturedMarker>(
         topic_,
-        rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos)),
+        rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
         std::bind(&TexturedMarkerPlugin::MarkerCallback, this, std::placeholders::_1)
       );