Skip to content

pcl_ros: enable QoS overrides for lazy input and ouput #519

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
Spike-hd wants to merge 2 commits into
base: jazzy
Choose a base branch
from
Open

pcl_ros: enable QoS overrides for lazy input and ouput #519

Changes from 1 commit
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
e3ff391
pcl_ros: enable QoS overrides for lazy input and ouput
Feb 10, 2026
88c0c29
pcl_ros: apply QoS overrides to filters and tools
Feb 11, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
14 changes: 11 additions & 3 deletions pcl_ros/src/pcl_ros/filters/filter.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@

#include "pcl_ros/filters/filter.hpp"
#include <pcl/common/io.h>
#include <rclcpp/qos_overriding_options.hpp>
#include "pcl_ros/transforms.hpp"

/*//#include <pcl/filters/pixel_grid.h>
Expand Down Expand Up @@ -120,13 +121,17 @@ pcl_ros::Filter::computePublish(
void
pcl_ros::Filter::subscribe()
{
// Enable QoS reconfigurability via parameters
rclcpp::SubscriptionOptions sub_options;
sub_options.qos_overriding_options = rclcpp::QosOverridingOptions {{rclcpp::QosPolicyKind::History, rclcpp::QosPolicyKind::Reliability, rclcpp::QosPolicyKind::Durability, rclcpp::QosPolicyKind::Depth}};

// If we're supposed to look for PointIndices (indices)
if (use_indices_) {
// Subscribe to the input using a filter
auto sensor_qos_profile =
rclcpp::SensorDataQoS().keep_last(max_queue_size_).get_rmw_qos_profile();
sub_input_filter_.subscribe(this, "input", sensor_qos_profile);
sub_indices_filter_.subscribe(this, "indices", sensor_qos_profile);
sub_input_filter_.subscribe(this, "input", sensor_qos_profile, sub_options);
sub_indices_filter_.subscribe(this, "indices", sensor_qos_profile, sub_options);

if (approximate_sync_) {
sync_input_indices_a_ =
Expand Down Expand Up @@ -156,7 +161,7 @@ pcl_ros::Filter::subscribe()
sub_input_ =
this->create_subscription<PointCloud2>(
"input", rclcpp::SensorDataQoS().keep_last(max_queue_size_),
callback);
callback, sub_options);
}
}

Expand Down Expand Up @@ -199,6 +204,9 @@ pcl_ros::Filter::createPublishers()
}
}
};

// Enable QoS reconfigurability via parameters
pub_options.qos_overriding_options = rclcpp::QosOverridingOptions {{rclcpp::QosPolicyKind::History, rclcpp::QosPolicyKind::Reliability, rclcpp::QosPolicyKind::Durability, rclcpp::QosPolicyKind::Depth}};
pub_output_ = create_publisher<PointCloud2>("output", max_queue_size_, pub_options);
}

Expand Down
⚡