From 27af6fe6a012b8590f3bee6cbfff1b30cab136a8 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Mon, 20 Jan 2025 18:47:09 +0100
Subject: [PATCH] Make reliable explicit on the QoS

---
 controller_manager/src/controller_manager.cpp       | 2 +-
 controller_manager/test/test_controller_manager.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index 58be8ffaaf..79fb2636e6 100644
--- 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
index 28b77e12ee..e382841215 100644
--- 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());