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_vision/src/toid_vision.cpp
+++ b/toid_vision/src/toid_vision.cpp
@@ -37,7 +37,7 @@ NutDetector::NutDetector(const rclcpp::NodeOptions & options)
  RCLCPP_INFO(this->get_logger(), "NutDetector activated... scanning for DEEZ NUTZ");

  pose_pub_ =
-    this->create_publisher<geometry_msgs::msg::PoseStamped>("/closest_acorn", rclcpp::QoS(1));
+    this->create_publisher<geometry_msgs::msg::PoseStamped>("/closest_acorn", rclcpp::QoS(5));
  flip_pub_ = this->create_publisher<std_msgs::msg::String>("/to_flip", rclcpp::QoS(1));
 }