Separate QoS profiles for publishers and subscribers to resolve durability mismatch warnings#231
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Separate QoS profiles for publisher and subscriber in offboard_control.py to avoid ROS2 incompatible QoS warnings when subscribing to PX4 topics such as /fmu/out/vehicle_status and /fmu/out/vehicle_local_position. Signed-off-by: NghiemLg <nghiem.lg200104@gmail.com>
Signed-off-by: NghiemLg <nghiem.lg200104@gmail.com>
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Details:
When running the offboard example:
ros2 run px4_ros_com offboard_control.pyThe following warnings were displayed:
[WARN] [offboard_control_takeoff_and_land]: New publisher discovered on topic '/fmu/out/vehicle_status', offering incompatible QoS. No messages will be received from it. Last incompatible policy: DURABILITYRoot cause:
Both publishers and subscribers in
offboard_control.pyused the same default QoS profile.However, PX4 topics such as
/fmu/out/vehicle_statususe Transient Local durability,while ROS 2’s default subscriber QoS is Volatile, causing incompatibility.
Fix implemented:
Replaced the old shared qos_profile with two distinct QoS profiles:
Publishers now use Transient Local durability to match PX4 topics.
Subscribers remain Volatile, ensuring they receive live data without attempting to fetch historical messages.