foxglove/ros-foxglove-bridge

Subscribers always using qos depth of 1 with fastDDS

eschembor-irobot opened this issue · 3 comments

eschembor-irobot commented

Description
Subscribers created by the bridge always using qos depth of 1 with fastDDS

  • Version: ca7d0c3
  • Platform: Ubuntu 20.04

Steps To Reproduce
Currently, get_publishers_info_by_topic will report all publishers as having a qos depth of 0 with fastDDS. I opened a ticket for that here ros2/rmw_fastrtps#684
This leads to foxglove_bridge using a qos depth of 1 for all subscribers when using fastDDS - which causes lots of dropped messages (a real headache for /tf visualization specifically). Hopefully, that issue with fastDDS will be resolved, but in the interim I suggest increasing the minimum qos depth for subscribers to alleviate this issue (internally, we're going to be patching foxglove_bridge for the time being to increase the minimum depth to 10).

Expected Behavior
Expect foxglove_bridge to use reasonable qos depth on subscribers when using fastDDS.

foxhubber commented

Internal tracking ticket: FG-2767

achim-k commented

I guess a new parameter min_qos_depth (parameter max_qos_depth already exists) would be sufficient to solve this. Would that be an OK solution for you?

eschembor-irobot commented

Yes, I think that's a good solution