cras_topic_tools: count_messages: Default to BEST_AVAILABLE QoS.

peci1 · peci1 · commit 201cdf7d2c03 · 2025-09-13T00:01:49.000+02:00
diff --git a/cras_topic_tools/src/count_messages.cpp b/cras_topic_tools/src/count_messages.cpp
@@ -143,7 +143,8 @@ CountMessagesComponent::CountMessagesComponent(const ::rclcpp::NodeOptions& opti
       qosProfileStr = options.arguments()[2];
   }
 
-  this->qosProfile = qosProfileStr.empty() ? rclcpp::QoS(qosDepthParam.value_or(1000)) : parseQoSPreset(qosProfileStr);
+  const auto defaultQoS = rclcpp::BestAvailableQoS().keep_last(1000);
+  this->qosProfile = qosProfileStr.empty() ? defaultQoS : parseQoSPreset(qosProfileStr);
   cras::configureQoSProfile(this->qosProfile, qosDepthParam, qosHistoryParam, qosReliabilityParam, qosDurabilityParam,
     qosLivelinessParam, qosLivelinessLeaseDurationSecondsParam);
 

Original file line number	Diff line number	Diff line change
`@@ -143,7 +143,8 @@ CountMessagesComponent::CountMessagesComponent(const ::rclcpp::NodeOptions& opti`
`143`	`143`	`qosProfileStr = options.arguments()[2];`
`144`	`144`	`}`
`145`	`145`
`146`		`- this->qosProfile = qosProfileStr.empty() ? rclcpp::QoS(qosDepthParam.value_or(1000)) : parseQoSPreset(qosProfileStr);`
	`146`	`+ const auto defaultQoS = rclcpp::BestAvailableQoS().keep_last(1000);`
	`147`	`+ this->qosProfile = qosProfileStr.empty() ? defaultQoS : parseQoSPreset(qosProfileStr);`
`147`	`148`	`cras::configureQoSProfile(this->qosProfile, qosDepthParam, qosHistoryParam, qosReliabilityParam, qosDurabilityParam,`
`148`	`149`	`qosLivelinessParam, qosLivelinessLeaseDurationSecondsParam);`
`149`	`150`