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Latched map subscriber QoS depth 1 #5665

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4 changes: 2 additions & 2 deletions nav2_amcl/src/amcl_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1215,7 +1215,7 @@ AmclNode::updateParametersCallback(
map_sub_ = create_subscription<nav_msgs::msg::OccupancyGrid>(
map_topic_,
std::bind(&AmclNode::mapReceived, this, std::placeholders::_1),
nav2::qos::LatchedSubscriptionQoS());
nav2::qos::LatchedSubscriptionQoS(1));
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@SteveMacenski SteveMacenski Nov 15, 2025

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I think we talked about this at ROSCon - we probably want this to be 2-3 so that if one message is coming in, it is not interrupted / canceled by a new one by the DDS / middleware. Making this ~2-3 allows for current communicated messages to be processed completely while a second one is starting to be received

}
}

Expand Down Expand Up @@ -1387,7 +1387,7 @@ AmclNode::initPubSub()
map_sub_ = create_subscription<nav_msgs::msg::OccupancyGrid>(
map_topic_,
std::bind(&AmclNode::mapReceived, this, std::placeholders::_1),
nav2::qos::LatchedSubscriptionQoS());
nav2::qos::LatchedSubscriptionQoS(1));

RCLCPP_INFO(get_logger(), "Subscribed to map topic.");
}
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2 changes: 1 addition & 1 deletion nav2_costmap_2d/include/nav2_costmap_2d/costmap_subscriber.hpp
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Expand Up @@ -53,7 +53,7 @@ class CostmapSubscriber
costmap_sub_ = nav2::interfaces::create_subscription<nav2_msgs::msg::Costmap>(
parent, topic_name_,
std::bind(&CostmapSubscriber::costmapCallback, this, std::placeholders::_1),
nav2::qos::LatchedSubscriptionQoS());
nav2::qos::LatchedSubscriptionQoS(1));

costmap_update_sub_ = nav2::interfaces::create_subscription<nav2_msgs::msg::CostmapUpdate>(
parent, topic_name_ + "_updates",
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2 changes: 1 addition & 1 deletion nav2_costmap_2d/plugins/costmap_filters/binary_filter.cpp
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Expand Up @@ -144,7 +144,7 @@ void BinaryFilter::filterInfoCallback(
mask_sub_ = node->create_subscription<nav_msgs::msg::OccupancyGrid>(
mask_topic_,
std::bind(&BinaryFilter::maskCallback, this, std::placeholders::_1),
nav2::qos::LatchedSubscriptionQoS());
nav2::qos::LatchedSubscriptionQoS(1));
}

void BinaryFilter::maskCallback(
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2 changes: 1 addition & 1 deletion nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp
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Expand Up @@ -133,7 +133,7 @@ void KeepoutFilter::filterInfoCallback(
mask_sub_ = node->create_subscription<nav_msgs::msg::OccupancyGrid>(
mask_topic_,
std::bind(&KeepoutFilter::maskCallback, this, std::placeholders::_1),
nav2::qos::LatchedSubscriptionQoS());
nav2::qos::LatchedSubscriptionQoS(1));
}

void KeepoutFilter::maskCallback(
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2 changes: 1 addition & 1 deletion nav2_costmap_2d/plugins/costmap_filters/speed_filter.cpp
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Expand Up @@ -152,7 +152,7 @@ void SpeedFilter::filterInfoCallback(
mask_sub_ = node->create_subscription<nav_msgs::msg::OccupancyGrid>(
mask_topic_,
std::bind(&SpeedFilter::maskCallback, this, std::placeholders::_1),
nav2::qos::LatchedSubscriptionQoS());
nav2::qos::LatchedSubscriptionQoS(1));
}

void SpeedFilter::maskCallback(
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2 changes: 1 addition & 1 deletion nav2_costmap_2d/plugins/static_layer.cpp
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Expand Up @@ -77,7 +77,7 @@ StaticLayer::onInitialize()

rclcpp::QoS map_qos = nav2::qos::StandardTopicQoS(); // initialize to default
if (map_subscribe_transient_local_) {
map_qos = nav2::qos::LatchedSubscriptionQoS();
map_qos = nav2::qos::LatchedSubscriptionQoS(1);
}

RCLCPP_INFO(
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2 changes: 1 addition & 1 deletion nav2_costmap_2d/plugins/voxel_layer.cpp
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Expand Up @@ -96,7 +96,7 @@ void VoxelLayer::onInitialize()

if (publish_voxel_) {
voxel_pub_ = node->create_publisher<nav2_msgs::msg::VoxelGrid>(
"voxel_grid", nav2::qos::LatchedPublisherQoS());
"voxel_grid", nav2::qos::LatchedPublisherQoS(1));
voxel_pub_->on_activate();
}

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2 changes: 1 addition & 1 deletion nav2_costmap_2d/test/integration/test_costmap_2d_publisher.cpp
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Expand Up @@ -87,7 +87,7 @@ class LayerSubscriber
layer_sub_ = node->create_subscription<nav2_msgs::msg::Costmap>(
topic_name,
std::bind(&LayerSubscriber::layerCallback, this, std::placeholders::_1),
nav2::qos::LatchedSubscriptionQoS(),
nav2::qos::LatchedSubscriptionQoS(1),
callback_group_);

executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
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2 changes: 1 addition & 1 deletion nav2_map_server/src/map_saver/map_saver.cpp
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Expand Up @@ -188,7 +188,7 @@ bool MapSaver::saveMapTopicToFile(

rclcpp::QoS map_qos = nav2::qos::StandardTopicQoS(); // initialize to default
if (map_subscribe_transient_local_) {
map_qos = nav2::qos::LatchedSubscriptionQoS();
map_qos = nav2::qos::LatchedSubscriptionQoS(1);
}

// Create new CallbackGroup for map_sub
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3 changes: 2 additions & 1 deletion nav2_map_server/test/component/test_map_saver_publisher.cpp
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Expand Up @@ -16,6 +16,7 @@
#include <string>
#include <memory>

#include "nav2_ros_common/qos_profiles.hpp"
#include "rclcpp/rclcpp.hpp"
#include "nav2_map_server/map_io.hpp"
#include "test_constants/test_constants.h"
Expand All @@ -41,7 +42,7 @@ class TestPublisher : public rclcpp::Node

map_pub_ = create_publisher<nav_msgs::msg::OccupancyGrid>(
"map",
rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable());
nav2::qos::LatchedPublisherQoS());
map_pub_->publish(msg);
}

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1 change: 1 addition & 0 deletions nav2_map_server/test/map_saver_cli/CMakeLists.txt
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Expand Up @@ -6,4 +6,5 @@ ament_add_gtest(test_map_saver_cli
target_link_libraries(test_map_saver_cli
rclcpp::rclcpp
${nav_msgs_TARGETS}
nav2_ros_common::nav2_ros_common
)
3 changes: 2 additions & 1 deletion nav2_map_server/test/map_saver_cli/test_map_saver_cli.cpp
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Expand Up @@ -18,6 +18,7 @@
#include <memory>
#include <utility>

#include "nav2_ros_common/qos_profiles.hpp"
#include "rclcpp/rclcpp.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"

Expand All @@ -34,7 +35,7 @@ TEST(MapSaverCLI, CLITest)

auto publisher = node->create_publisher<nav_msgs::msg::OccupancyGrid>(
"/map",
rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable());
nav2::qos::LatchedPublisherQoS());

auto msg = std::make_unique<nav_msgs::msg::OccupancyGrid>();
msg->header.frame_id = "map";
Expand Down
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