dbw_enabled (std_msgs/msg/Bool) QoS(1,TransientLocal) -
vin (std_msgs/msg/String) QoS(1,TransientLocal) -
Quality of Serice (QoS)
Quality of service definition is as follows. This section refers to how to relates to the above Topic documentation. See the ROS2 QoS Documentation for more details on QoS.
A QoS definition for a topic will have the following format:
QoS(History,Depth,Reliability,Durability). Any value may be omitted without losing clarity, including the entire QoS definition itself. Any omitted values are assumed to be the default.
KeepLast - only store up to N samples, configurable via the queue depth option. Default.
KeepAll - store all samples, subject to the configured resource limits of the DDS vendor. With this option, Queue Size is ignored.
- Queue Size - Depicted in the definition as an integer. Only honored if used together with keep last. Default of 10
BestEffort - Attempt to deliver samples, but may lose them if the network is not robust.
Reliable - Guarantee that samples are delivered, may retry multiple times. Default
TransientLocal - The publisher becomes responsible for persisting samples for late-joining subscriptions. This will only occur if both the publisher and subscriber use this Durablity.
Volatile - No attempt is made to persist samples. Default