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Disable intra-process-comms for transient_local publisher #220

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Disable intra-process-comms for transient_local publisher #220

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7 changes: 6 additions & 1 deletion src/robot_state_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -129,10 +129,15 @@ RobotStatePublisher::RobotStatePublisher(const rclcpp::NodeOptions & options)
tf_broadcaster_ = std::make_unique<tf2_ros::TransformBroadcaster>(this);
static_tf_broadcaster_ = std::make_unique<tf2_ros::StaticTransformBroadcaster>(this);

auto publisher_options = rclcpp::PublisherOptions();
// Explicitly disable intra_process_comms for this publisher alone to allow
// for this node to run in a component container with intra_process_comms enabled.
publisher_options.use_intra_process_comm = rclcpp::IntraProcessSetting::Disable;
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I'm surprised this is necessary. Does this mean subscribers in the same process don't receive messages from publishers if the publishers have transient_local durability? I would have expected them to still get the messages through the rmw API.

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In Iron and before an exception would be thrown by rclcpp. I wasn't aware that support for this was added in Jazzy/Rolling. So we can close this PR

description_pub_ = this->create_publisher<std_msgs::msg::String>(
"robot_description",
// Transient local is similar to latching in ROS 1.
rclcpp::QoS(1).transient_local());
rclcpp::QoS(1).transient_local(),
std::move(publisher_options));

setupURDF(urdf_xml);

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