fix(planning_scene_monitor): use SensorDataQoS for joint_states subscription#3687
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alltheseas wants to merge 1 commit intomoveit:mainfrom
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fix(planning_scene_monitor): use SensorDataQoS for joint_states subscription#3687alltheseas wants to merge 1 commit intomoveit:mainfrom
alltheseas wants to merge 1 commit intomoveit:mainfrom
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…ription Use SensorDataQoS (best-effort) instead of SystemDefaultsQoS (reliable) when subscribing to joint_states in CurrentStateMonitorMiddlewareHandle. A reliable subscriber cannot receive messages from a best-effort publisher, causing silent message drops and planning_scene_monitor timeouts when robot drivers publish joint_states with best-effort QoS. A best-effort subscriber can receive from both reliable and best-effort publishers, making this change backward-compatible. Fixes moveit#1190 Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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Summary
joint_statessubscription inCurrentStateMonitorMiddlewareHandlefromSystemDefaultsQoS(reliable) toSensorDataQoS(best-effort)joint_stateswith best-effort QoSFixes #1190
Test plan
ros2_controllersjoint_state_broadcaster)SensorDataQoS)🤖 Generated with Claude Code