Incompatible QoS for Best Effort / SensorDataQoS

[samiamlabs]

I'm getting warnings like these when using this package on galactic for topics with sensor profile qos:

[snapshotter-2] [WARN] [1642341909.854706517] [snapshotter_node]: New publisher discovered on topic '/imu/data', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY

Changing the qos profile to rclcpp::SensorDataQoS() here gets rid of the warning:

rosbag2_snapshot/rosbag2_snapshot/src/snapshotter.cpp

Line 433 in 0adc67f

rclcpp::QoS{10},

I feel like there should be a better solution to this problem though.

[JWhitleyWork]

@samiamlabs Thanks for bringing this up. The proper way to handle this would be to add all of the QoS parameters (or at least the reliability and durability) to both the Topic Details message and the list of node parameters.

I am no longer actively working on this project but would be happy to review a PR.

[AHuguetINDRA]

Thank you, this answer helped me solve a problem I was having with a completely unrelated ROS2 project 😆