From 4d97c54c9cc3f4e633774ba9d1980afc29b9a3e1 Mon Sep 17 00:00:00 2001 From: Jaume Albardaner i Torras Date: Sat, 17 Jan 2026 13:34:42 +0100 Subject: [PATCH] Fix for Jazzy and Humble's QoS --- bonxai_ros/include/bonxai_server.hpp | 1 + bonxai_ros/src/bonxai_server.cpp | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/bonxai_ros/include/bonxai_server.hpp b/bonxai_ros/include/bonxai_server.hpp index 66058f6..42cdfbf 100644 --- a/bonxai_ros/include/bonxai_server.hpp +++ b/bonxai_ros/include/bonxai_server.hpp @@ -18,6 +18,7 @@ #include "message_filters/subscriber.hpp" #include "pcl_conversions/pcl_conversions.h" #include "rclcpp/rclcpp.hpp" +#include "rmw/qos_profiles.h" #include "sensor_msgs/msg/point_cloud2.hpp" #include "std_msgs/msg/color_rgba.hpp" #include "std_srvs/srv/empty.hpp" diff --git a/bonxai_ros/src/bonxai_server.cpp b/bonxai_ros/src/bonxai_server.cpp index 8d8a2f4..8008337 100644 --- a/bonxai_ros/src/bonxai_server.cpp +++ b/bonxai_ros/src/bonxai_server.cpp @@ -123,7 +123,7 @@ BonxaiServer::BonxaiServer(const rclcpp::NodeOptions& node_options) tf2_listener_ = std::make_shared(*tf2_buffer_); using std::chrono_literals::operator""s; - point_cloud_sub_.subscribe(this, "cloud_in", rclcpp::SensorDataQoS()); + point_cloud_sub_.subscribe(this, "cloud_in", rmw_qos_profile_sensor_data); tf_point_cloud_sub_ = std::make_shared>( point_cloud_sub_, *tf2_buffer_, world_frame_id_, 5, this->get_node_logging_interface(), this->get_node_clock_interface(), 5s);