Merge pull request #173 from CWRUbotix/fix-float-qos

Make GUI float transceiver QoS match serial node

Author: benjaminwp18

src/surface/gui/gui/widgets/float_comm.py

@@ -2,7 +2,7 @@
 from PyQt6.QtGui import QTextCursor
 from PyQt6.QtWidgets import QHBoxLayout, QLabel, QPushButton, QTextEdit, QVBoxLayout, QWidget
 from pyqtgraph import PlotWidget
-from rclpy.qos import qos_profile_default
+from rclpy.qos import QoSPresetProfiles, qos_profile_default
 
 from gui.gui_node import GUINode
 from rov_msgs.msg import FloatCommand, FloatData, FloatSerial, FloatSingle
@@ -24,10 +24,23 @@ def __init__(self) -> None:
         self.handle_data_signal.connect(self.handle_data)
         self.handle_serial_signal.connect(self.handle_serial)
         self.handle_data_single_signal.connect(self.handle_single)
-        GUINode().create_signal_subscription(FloatData, 'transceiver_data', self.handle_data_signal)
-        GUINode().create_signal_subscription(FloatSerial, 'float_serial', self.handle_serial_signal)
         GUINode().create_signal_subscription(
-            FloatSingle, 'transceiver_single', self.handle_data_single_signal
+            FloatData,
+            'transceiver_data',
+            self.handle_data_signal,
+            qos_profile=QoSPresetProfiles.SENSOR_DATA.value,
+        )
+        GUINode().create_signal_subscription(
+            FloatSerial,
+            'float_serial',
+            self.handle_serial_signal,
+            qos_profile=QoSPresetProfiles.SENSOR_DATA.value,
+        )
+        GUINode().create_signal_subscription(
+            FloatSingle,
+            'transceiver_single',
+            self.handle_data_single_signal,
+            qos_profile=QoSPresetProfiles.SENSOR_DATA.value,
         )
 
         info_layout = QVBoxLayout()