remove redundant keep_last() (#166)

mikeferguson · Sep 26, 2024 · 4c559be · 4c559be
1 parent 4919b52
commit 4c559be
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/robot_calibration/src/finders/led_finder.cpp b/robot_calibration/src/finders/led_finder.cpp
@@ -71,7 +71,7 @@ bool LedFinder::init(const std::string& name,
   topic_name = node->declare_parameter<std::string>(name + ".topic", name + "/points");
   subscriber_ = node->create_subscription<sensor_msgs::msg::PointCloud2>(
     topic_name,
-    rclcpp::QoS(1).best_effort().keep_last(1),
+    rclcpp::QoS(1).best_effort(),
     std::bind(&LedFinder::cameraCallback, this, std::placeholders::_1));
 
   // Publish where LEDs were seen

diff --git a/robot_calibration/src/finders/plane_finder.cpp b/robot_calibration/src/finders/plane_finder.cpp
@@ -108,7 +108,7 @@ bool PlaneFinder::init(const std::string& name,
     node->declare_parameter<std::string>(name + ".topic", name + "/points");
   subscriber_ = node->create_subscription<sensor_msgs::msg::PointCloud2>(
     topic_name,
-    rclcpp::QoS(1).best_effort().keep_last(1),
+    rclcpp::QoS(1).best_effort(),
     std::bind(&PlaneFinder::cameraCallback, this, std::placeholders::_1));
 
   // Name of the sensor model that will be used during optimization

diff --git a/robot_calibration/src/finders/scan_finder.cpp b/robot_calibration/src/finders/scan_finder.cpp
@@ -53,7 +53,7 @@ bool ScanFinder::init(const std::string& name,
   topic_name = node->declare_parameter<std::string>(name + ".topic", name + "/scan");
   subscriber_ = node->create_subscription<sensor_msgs::msg::LaserScan>(
     topic_name,
-    rclcpp::QoS(1).best_effort().keep_last(1),
+    rclcpp::QoS(1).best_effort(),
     std::bind(&ScanFinder::scanCallback, this, std::placeholders::_1));
 
   // Name of the sensor model that will be used during optimization