From 0a5689bc359bb9d796fe9710aa292065ea85057e Mon Sep 17 00:00:00 2001
From: Anish_deva <51463994+adev4a@users.noreply.github.com>
Date: Fri, 1 Nov 2024 14:30:46 -0400
Subject: [PATCH] add additional topics to rosbag2 qos overrides (#2454)

---
 carma/config/rosbag2_qos_overrides.yaml | 23 ++++++++++++++++++++++-
 1 file changed, 22 insertions(+), 1 deletion(-)

diff --git a/carma/config/rosbag2_qos_overrides.yaml b/carma/config/rosbag2_qos_overrides.yaml
index 1616bc7793..ab3f55292f 100644
--- a/carma/config/rosbag2_qos_overrides.yaml
+++ b/carma/config/rosbag2_qos_overrides.yaml
@@ -13,7 +13,7 @@
   durability: transient_local
   depth: 1
 
-/environment/lanelet_map_bin:
+/environment/semantic_map:
   history: keep_last
   reliability: reliable
   durability: transient_local
@@ -32,6 +32,27 @@
   depth: 1
 
 /message/incoming_geofence_control:
+  history: keep_all
+  reliability: reliable
+  durability: transient_local
+
+/guidance/route_event:
+  history: keep_all
+  reliability: reliable
+  durability: transient_local
+
+/system_alert:
+  history: keep_all
+  reliability: reliable
+  durability: transient_local
+
+/environment/map_update:
+  history: keep_last
+  reliability: reliable
+  durability: transient_local
+  depth: 1
+
+/environment/map_update_debug:
   history: keep_last
   reliability: reliable
   durability: transient_local