Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

diff drive controller's odom topic publishing with the wrong QOS profile #1284

Open
alireza-moayyedi opened this issue Sep 10, 2024 · 2 comments
Labels
bug persistent Issue won't get marked as stale stale

Comments

@alireza-moayyedi
Copy link

alireza-moayyedi commented Sep 10, 2024

Describe the bug

Hello, looking at the code (https://github.com/ros-controls/ros2_controllers/blob/humble/diff_drive_controller/src/diff_drive_controller.cpp#L390C1-L391C1) I would expect the /diff_drive_base_controller/odom to be published with the SystemDefaultsQoS settings. However, when I inspect it, it is set to TRANSIENT_LOCAL and RELIABLE. I have tested this accross two different computers with both simulation as well as real robot and both were the same.

I noticed a similar issue reported in (#745) but I took a quick look and couldn't find anything strange with https://github.com/ros-controls/realtime_tools/blob/master/include/realtime_tools/realtime_publisher.h

To Reproduce

ros2 topic info /diff_drive_base_controller/odom -v

If you want to quickly run a demo you can just run the gazebo's demo: ros2 launch gazebo_ros2_control_demos diff_drive.launch.py

Environment:

  • OS: Ubuntu 22
  • Version Humble
@alireza-moayyedi alireza-moayyedi changed the title diff drive controller's odom and cmd_vel_unstamped topics publishing with the wrong QOS profile diff drive controller's odom topic publishing with the wrong QOS profile Sep 11, 2024
Copy link
Contributor

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

@github-actions github-actions bot added the stale label Mar 26, 2025
@christophfroehlich christophfroehlich added the persistent Issue won't get marked as stale label Mar 26, 2025
@christophfroehlich
Copy link
Contributor

I was able to reproduce this also with ros2 launch ros2_control_demo_example_2 diffbot.launch.py

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
bug persistent Issue won't get marked as stale stale
Projects
None yet
Development

No branches or pull requests

2 participants