If no publishers discovered, make the best available QoS for subscrip… #84
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…tion. Signed-off-by: Tomoya Fujita <[email protected]>
This was referenced Dec 16, 2025
fujitatomoya
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Dec 16, 2025
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…tion.
Description
There is a possibility that the subscription has not yet discovered the corresponding publisher at the time of its creation.
In such cases, the current implementation causes those
if statementsto fall back to a restricted QoS configuration for the subscription.However, this behavior seems incorrect for me. instead, it should fall back to selecting the best available QoS configuration that remains compatible with any endpoints that may join later.
Closes ros2/ros2#1722
Replaces ros2/rclpy#1561
Is this user-facing behavior change?
No,
Did you use Generative AI?
No,
Additional Information
I confirmed that ros2/ros2#1722 can be fixed with this PR.
Warning
We need to backport this to kilted and jazzy if accepted