extended closest_acorn topic queue and set to keep_last

2026-04-15 13:58:36 +02:00
parent 81ebd8b7a2
commit 4d4c598ce9
3 changed files with 4 additions and 4 deletions
--- a/toid_behaviors/src/approach_acorns.cpp
+++ b/toid_behaviors/src/approach_acorns.cpp
@@ -68,7 +68,7 @@ void ApproachAcorns::activateCB()
  auto node = node_.lock();
  using namespace std::placeholders;
  acorn_pose_sub_ = node->create_subscription<PoseStamped>(
-    "closest_acorn", rclcpp::QoS(1), std::bind(&ApproachAcorns::acorn_position_cb, this, _1));
+    "closest_acorn", rclcpp::QoS(2), std::bind(&ApproachAcorns::acorn_position_cb, this, _1));
  target_pose_pub_->on_activate();
  distance_ = 1.0;
 }