Expose depth_publisher param

[doisyg]

Adds param depth_publisher, without changing the current default of 1000, to allow changing the depth of the scan_to_scan_filter_chain output topic.
For #249

[jonbinney]

Thanks for this! I'll review the PR tomorrow.

[jonbinney]

Everything looks good except for the name "depth_publisher" which sounds like the name of a publisher object instead of a number of scans of history to keep. Could you rename it to something more descriptive? The name of parameter to the create_publisher() function is "qos_history_depth" and the default scan topic is "scan_filtered", so how about "scan_filtered_history_depth"?

[doisyg]

Updated !

[jonbinney]

@doisyg did you forget to push the new commit?

[doisyg]

oupsie, wrong branch, fixed

[jonbinney]

Looks good now, thanks!

[jonbinney]

@Mergifyio backport rolling

[mergify]

backport rolling

✅ Backports have been created

• #251 Expose depth_publisher param (backport #250) has been created for branch rolling

[doisyg]

@jonbinney any chance we could trigger a new release for with this ?

[jonbinney]

Yes I can do a release - I'll try to get to it this Sunday.

[jonbinney]

Didn't have time to do the release today - i'll do it tomorrow.

[jonbinney]

Released version 2.2.3 on kilted and 2.3.1 on rolling. It'll take some time to work through the build farm, then probably 1-3 weeks before there's a sync to the main kilted apt repos. Should show up sooner in the rolling apt repos.

[doisyg]

Thank you!