Update keep_last values

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
open-rmf · Oct 3, 2024 · f61f8bd · f61f8bd
1 parent 1350d54
commit f61f8bd
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/rmf_fleet_adapter/src/rmf_fleet_adapter/TaskManager.cpp b/rmf_fleet_adapter/src/rmf_fleet_adapter/TaskManager.cpp
@@ -199,7 +199,7 @@ TaskManagerPtr TaskManager::make(
       TaskStateUpdateTopicName, reliable_transient_qos);
   mgr->_task_log_update_pub =
     mgr->_context->node()->create_publisher<TaskLogUpdateMsg>(
-      TaskLogUpdateTopicName, reliable_transient_qos);
+      TaskLogUpdateTopicName, reliable_transient_qos.keep_last(100));
 
   const std::vector<nlohmann::json> schemas = {
     rmf_api_msgs::schemas::task_state,

diff --git a/rmf_fleet_adapter/src/rmf_fleet_adapter/agv/internal_FleetUpdateHandle.hpp b/rmf_fleet_adapter/src/rmf_fleet_adapter/agv/internal_FleetUpdateHandle.hpp
@@ -544,10 +544,10 @@ class FleetUpdateHandle::Implementation
 
     handle->_pimpl->fleet_state_update_pub =
       handle->_pimpl->node->create_publisher<FleetStateUpdateMsg>(
-        FleetStateUpdateTopicName, reliable_transient_qos);
+        FleetStateUpdateTopicName, reliable_transient_qos.keep_last(10));
     handle->_pimpl->fleet_log_update_pub =
       handle->_pimpl->node->create_publisher<FleetLogUpdateMsg>(
-        FleetLogUpdateTopicName, reliable_transient_qos);
+        FleetLogUpdateTopicName, reliable_transient_qos.keep_last(100));
 
     // Add PerformAction event to deserialization
     auto validator = handle->_pimpl->deserialization.make_validator_shared(