Make reliable explicit on the QoS

ros-controls · Jan 20, 2025 · 27af6fe · 27af6fe
1 parent 7952d89
commit 27af6fe
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -295,7 +295,7 @@ void ControllerManager::init_controller_manager()
 {
   controller_manager_activity_publisher_ =
     create_publisher<controller_manager_msgs::msg::ControllerManagerActivity>(
-      "~/activity", rclcpp::QoS(1).transient_local());
+      "~/activity", rclcpp::QoS(1).reliable().transient_local());
   rt_controllers_wrapper_.set_on_switch_callback(
     std::bind(&ControllerManager::publish_activity, this));
   resource_manager_->set_on_component_state_switch_callback(

diff --git a/controller_manager/test/test_controller_manager.cpp b/controller_manager/test/test_controller_manager.cpp
@@ -43,7 +43,7 @@ class TestControllerManagerWithStrictness
     { received_msg = msg; };
     auto subscription =
       test_node.create_subscription<controller_manager_msgs::msg::ControllerManagerActivity>(
-        topic, rclcpp::QoS(1).transient_local(), subs_callback);
+        topic, rclcpp::QoS(1).reliable().transient_local(), subs_callback);
 
     rclcpp::executors::SingleThreadedExecutor executor;
     executor.add_node(test_node.get_node_base_interface());