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Separate QoS profiles for publishers and subscribers to resolve durability mismatch warnings #231

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Separate QoS profiles for publishers and subscribers to resolve durability mismatch warnings #231

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ba114b2
fix(offboard): resolve QoS durability mismatch for PX4 ROS2 subscriber
NghiemLg Mar 4, 2026
7d18ce9
adjust qos variable
NghiemLg Mar 5, 2026
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21 changes: 21 additions & 0 deletions .vscode/c_cpp_properties.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1,21 @@
{
"configurations": [
{
"browse": {
"databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db",
"limitSymbolsToIncludedHeaders": false
},
"includePath": [
"/opt/ros/humble/include/**",
"/home/nlg/px4_ros_com/include/**",
"/usr/include/**"
],
"name": "ros2",
"intelliSenseMode": "gcc-x64",
"compilerPath": "/usr/bin/gcc",
"cStandard": "gnu11",
"cppStandard": "c++17"
}
],
"version": 4
}
11 changes: 10 additions & 1 deletion .vscode/settings.json
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Expand Up @@ -2,5 +2,14 @@
"files.associations": {
"chrono": "cpp",
"ostream": "cpp"
}
},
"ROS2.distro": "humble",
"python.autoComplete.extraPaths": [
"/opt/ros/humble/lib/python3.10/site-packages",
"/opt/ros/humble/local/lib/python3.10/dist-packages"
],
"python.analysis.extraPaths": [
"/opt/ros/humble/lib/python3.10/site-packages",
"/opt/ros/humble/local/lib/python3.10/dist-packages"
]
}
20 changes: 13 additions & 7 deletions src/examples/offboard_py/offboard_control.py
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Expand Up @@ -13,26 +13,32 @@ def __init__(self) -> None:
super().__init__('offboard_control_takeoff_and_land')

# Configure QoS profile for publishing and subscribing
qos_profile = QoSProfile(
qos_profile_pub = QoSProfile(
reliability=ReliabilityPolicy.BEST_EFFORT,
durability=DurabilityPolicy.TRANSIENT_LOCAL,
history=HistoryPolicy.KEEP_LAST,
depth=1
depth=0
)
qos_profile_sub = QoSProfile(
reliability=ReliabilityPolicy.BEST_EFFORT,
durability=DurabilityPolicy.VOLATILE,
history=HistoryPolicy.KEEP_LAST,
depth=10
)

# Create publishers
self.offboard_control_mode_publisher = self.create_publisher(
OffboardControlMode, '/fmu/in/offboard_control_mode', qos_profile)
OffboardControlMode, '/fmu/in/offboard_control_mode', qos_profile_pub)
self.trajectory_setpoint_publisher = self.create_publisher(
TrajectorySetpoint, '/fmu/in/trajectory_setpoint', qos_profile)
TrajectorySetpoint, '/fmu/in/trajectory_setpoint', qos_profile_pub)
self.vehicle_command_publisher = self.create_publisher(
VehicleCommand, '/fmu/in/vehicle_command', qos_profile)
VehicleCommand, '/fmu/in/vehicle_command', qos_profile_pub)

# Create subscribers
self.vehicle_local_position_subscriber = self.create_subscription(
VehicleLocalPosition, '/fmu/out/vehicle_local_position', self.vehicle_local_position_callback, qos_profile)
VehicleLocalPosition, '/fmu/out/vehicle_local_position', self.vehicle_local_position_callback, qos_profile_sub)
self.vehicle_status_subscriber = self.create_subscription(
VehicleStatus, '/fmu/out/vehicle_status', self.vehicle_status_callback, qos_profile)
VehicleStatus, '/fmu/out/vehicle_status', self.vehicle_status_callback, qos_profile_sub)

# Initialize variables
self.offboard_setpoint_counter = 0
Expand Down