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fix: update new subs with dds from publisher (backport #940) #960

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merged 1 commit into from
Oct 7, 2024
Merged

fix: update new subs with dds from publisher (backport #940) #960

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5 changes: 5 additions & 0 deletions rosbridge_library/src/rosbridge_library/internal/subscribers.py
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Original file line number Diff line number Diff line change
Expand Up @@ -176,6 +176,11 @@ def subscribe(self, client_id, callback):
# In any case, the first message is handled using new_sub_callback,
# which adds the new callback to the subscriptions dictionary.
self.new_subscriptions.update({client_id: callback})
infos = self.node_handle.get_publishers_info_by_topic(self.topic)
if any(pub.qos_profile.durability == DurabilityPolicy.TRANSIENT_LOCAL for pub in infos):
self.qos.durability = DurabilityPolicy.TRANSIENT_LOCAL
if any(pub.qos_profile.reliability == ReliabilityPolicy.BEST_EFFORT for pub in infos):
self.qos.reliability = ReliabilityPolicy.BEST_EFFORT
if self.new_subscriber is None:
self.new_subscriber = self.node_handle.create_subscription(
self.msg_class,
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