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[GPIO Controller] Use latched publishing for robot_mode and safety_mode (backport #978) #991

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merged 1 commit into from
May 13, 2024
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[GPIO Controller] Use latched publishing for robot_mode and safety_mode (backport #978) #991

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14 changes: 5 additions & 9 deletions ur_controllers/src/gpio_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -278,23 +278,19 @@ ur_controllers::GPIOController::on_activate(const rclcpp_lifecycle::State& /*pre
}

try {
auto qos_latched = rclcpp::SystemDefaultsQoS();
qos_latched.transient_local();
// register publisher
io_pub_ = get_node()->create_publisher<ur_msgs::msg::IOStates>("~/io_states", rclcpp::SystemDefaultsQoS());

tool_data_pub_ =
get_node()->create_publisher<ur_msgs::msg::ToolDataMsg>("~/tool_data", rclcpp::SystemDefaultsQoS());

robot_mode_pub_ =
get_node()->create_publisher<ur_dashboard_msgs::msg::RobotMode>("~/robot_mode", rclcpp::SystemDefaultsQoS());
robot_mode_pub_ = get_node()->create_publisher<ur_dashboard_msgs::msg::RobotMode>("~/robot_mode", qos_latched);

safety_mode_pub_ =
get_node()->create_publisher<ur_dashboard_msgs::msg::SafetyMode>("~/safety_mode", rclcpp::SystemDefaultsQoS());

auto program_state_pub_qos = rclcpp::SystemDefaultsQoS();
program_state_pub_qos.transient_local();
program_state_pub_ =
get_node()->create_publisher<std_msgs::msg::Bool>("~/robot_program_running", program_state_pub_qos);
safety_mode_pub_ = get_node()->create_publisher<ur_dashboard_msgs::msg::SafetyMode>("~/safety_mode", qos_latched);

program_state_pub_ = get_node()->create_publisher<std_msgs::msg::Bool>("~/robot_program_running", qos_latched);
set_io_srv_ = get_node()->create_service<ur_msgs::srv::SetIO>(
"~/set_io", std::bind(&GPIOController::setIO, this, std::placeholders::_1, std::placeholders::_2));

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