From 3746a16dafebd92229a992c3798fe267fa368678 Mon Sep 17 00:00:00 2001
From: TetsuKawa <kawaguchitnon@icloud.com>
Date: Tue, 14 Jan 2025 22:21:49 +0900
Subject: [PATCH] modify: add qos setting

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
---
 .../launch/topic_relay_controller_tf.launch.xml                 | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/system/autoware_topic_relay_controller/launch/topic_relay_controller_tf.launch.xml b/system/autoware_topic_relay_controller/launch/topic_relay_controller_tf.launch.xml
index da718adcc3d9b..648d53cf4e1b7 100644
--- a/system/autoware_topic_relay_controller/launch/topic_relay_controller_tf.launch.xml
+++ b/system/autoware_topic_relay_controller/launch/topic_relay_controller_tf.launch.xml
@@ -2,6 +2,7 @@
   <arg name="node_name_suffix" description="node name suffix"/>
   <arg name="topic" description="transform topic name"/>
   <arg name="remap_topic" description="remap topic name"/>
+  <arg name="qos" default="1" description="QoS profile"/>
   <arg name="frame_id" description="parent frame id"/>
   <arg name="child_frame_id" description="child frame id"/>
   <arg name="transient_local" default="false" description="add transient_local option to subscriber or not"/>
@@ -14,6 +15,7 @@
   <node pkg="autoware_topic_relay_controller" exec="autoware_topic_relay_controller_node" name="topic_relay_controller_$(var node_name_suffix)" output="screen">
     <param name="topic" value="$(var topic)"/>
     <param name="remap_topic" value="$(var remap_topic)"/>
+    <param name="qos" value="$(var qos)"/>
     <param name="frame_id" value="$(var frame_id)"/>
     <param name="child_frame_id" value="$(var child_frame_id)"/>
     <param name="transient_local" value="$(var transient_local)"/>