fix(rclcpp_components): increase the service queue sizes in component…

…_container (#2363) * fix(rclcpp_components): increase the service queue sizes in component_container Signed-off-by: M. Fatih Cırıt <[email protected]>
ros2 · Nov 9, 2023 · 9c098e5 · 9c098e5
1 parent 0f331f9
commit 9c098e5
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/rclcpp_components/src/component_manager.cpp b/rclcpp_components/src/component_manager.cpp
@@ -39,10 +39,12 @@ ComponentManager::ComponentManager(
 {
   loadNode_srv_ = create_service<LoadNode>(
     "~/_container/load_node",
-    std::bind(&ComponentManager::on_load_node, this, _1, _2, _3));
+    std::bind(&ComponentManager::on_load_node, this, _1, _2, _3),
+    rclcpp::ServicesQoS().keep_last(200));
   unloadNode_srv_ = create_service<UnloadNode>(
     "~/_container/unload_node",
-    std::bind(&ComponentManager::on_unload_node, this, _1, _2, _3));
+    std::bind(&ComponentManager::on_unload_node, this, _1, _2, _3),
+    rclcpp::ServicesQoS().keep_last(200));
   listNodes_srv_ = create_service<ListNodes>(
     "~/_container/list_nodes",
     std::bind(&ComponentManager::on_list_nodes, this, _1, _2, _3));