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transient local qos #35

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Merged
jorgenfj merged 1 commit into from
Jan 31, 2026
Merged

transient local qos #35

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7 changes: 7 additions & 0 deletions vortex_utils_ros/include/vortex/utils/ros/qos_profiles.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,13 @@ inline rclcpp::QoS reliable_profile(const size_t depth = 10) {
return profile;
}

inline rclcpp::QoS reliable_transient_local_profile(const size_t depth = 1) {
auto profile{rclcpp::QoS(rclcpp::KeepLast(depth))};
profile.reliable();
profile.transient_local();
return profile;
}

} // namespace vortex::utils::qos_profiles

#endif // VORTEX_UTILS_QOS_PROFILES_HPP