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Planning Scene Monitor should use relaible QoS with >1 history #3257

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Planning Scene Monitor should use relaible QoS with >1 history #3257

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8 changes: 7 additions & 1 deletion moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,8 @@

/* Author: Ioan Sucan */

#include <rclcpp/qos.hpp>

#include <moveit/planning_scene_monitor/planning_scene_monitor.hpp>
#include <moveit/robot_model_loader/robot_model_loader.hpp>
#include <moveit/utils/message_checks.hpp>
Expand Down Expand Up @@ -1176,8 +1178,12 @@ void PlanningSceneMonitor::startSceneMonitor(const std::string& scene_topic)
// listen for planning scene updates; these messages include transforms, so no need for filters
if (!scene_topic.empty())
{
// Missing even a single message may result in wrong state of attached objects, need to have reliable QoS
// with a sufficient queue length
rclcpp::QoS qos(10);
qos.reliable();
planning_scene_subscriber_ = pnode_->create_subscription<moveit_msgs::msg::PlanningScene>(
scene_topic, rclcpp::SystemDefaultsQoS(), [this](const moveit_msgs::msg::PlanningScene::ConstSharedPtr& scene) {
scene_topic, qos, [this](const moveit_msgs::msg::PlanningScene::ConstSharedPtr& scene) {
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@rhaschke rhaschke Jan 22, 2025 •
edited
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According to the docs, the default profile for publishers/subscribers already matches the desired settings.
Hence, it should be sufficient to use that profile instead of rclcpp::SystemDefaultsQoS():

- scene_topic, rclcpp::SystemDefaultsQoS(), [this](const moveit_msgs::msg::PlanningScene::ConstSharedPtr& scene) {
+ scene_topic, rmw_qos_profile_default, [this](const moveit_msgs::msg::PlanningScene::ConstSharedPtr& scene) {

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Actually, rclcpp::SystemDefaultsQoS() should not be used anywhere in the code. Instead, the profiles predefined for specific use cases should be used.

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No clue how things are supposed to work, but what I saw reported by ros2 topic info was that the subscription was "Reliability: BEST_EFFORT" with queue size of 1. That said, I am a novice in ROS2, so if there is an easier way to specify the desired QoS, I do not know.

return newPlanningSceneCallback(scene);
});
RCLCPP_INFO(logger_, "Listening to '%s'", planning_scene_subscriber_->get_topic_name());
Expand Down
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