From 2168603282218fac7a0e67a6916b9539e0667a9a Mon Sep 17 00:00:00 2001 From: CursedRock17 Date: Wed, 1 May 2024 22:50:09 -0400 Subject: [PATCH 1/3] altering announcement_period Signed-off-by: CursedRock17 --- rmw_fastrtps_shared_cpp/src/qos.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/rmw_fastrtps_shared_cpp/src/qos.cpp b/rmw_fastrtps_shared_cpp/src/qos.cpp index 6079cfda3..9a25b9365 100644 --- a/rmw_fastrtps_shared_cpp/src/qos.cpp +++ b/rmw_fastrtps_shared_cpp/src/qos.cpp @@ -141,8 +141,8 @@ bool fill_entity_qos_from_profile( // Docs suggest setting no higher than 0.7 * lease_duration, choosing 2/3 to give safe buffer. // See doc at https://github.com/eProsima/Fast-RTPS/blob/ // a8691a40be6b8460b01edde36ad8563170a3a35a/include/fastrtps/qos/QosPolicies.h#L223-L232 - double period_in_ns = entity_qos.liveliness().lease_duration.to_ns() * 2.0 / 3.0; - double period_in_s = RCUTILS_NS_TO_S(period_in_ns); + int64_t period_in_ns = entity_qos.liveliness().lease_duration.to_ns(); + double period_in_s = RCUITLS_NS_TO_S(period_in_s) * 2.0 / 3.0 entity_qos.liveliness().announcement_period = eprosima::fastrtps::Duration_t(period_in_s); } From 3f932d27b6567a60a932573bac573cfd62241adc Mon Sep 17 00:00:00 2001 From: CursedRock17 Date: Wed, 1 May 2024 22:56:21 -0400 Subject: [PATCH 2/3] altering announcement_period Signed-off-by: CursedRock17 --- rmw_fastrtps_shared_cpp/src/qos.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/rmw_fastrtps_shared_cpp/src/qos.cpp b/rmw_fastrtps_shared_cpp/src/qos.cpp index 9a25b9365..64ee6ba33 100644 --- a/rmw_fastrtps_shared_cpp/src/qos.cpp +++ b/rmw_fastrtps_shared_cpp/src/qos.cpp @@ -141,8 +141,8 @@ bool fill_entity_qos_from_profile( // Docs suggest setting no higher than 0.7 * lease_duration, choosing 2/3 to give safe buffer. // See doc at https://github.com/eProsima/Fast-RTPS/blob/ // a8691a40be6b8460b01edde36ad8563170a3a35a/include/fastrtps/qos/QosPolicies.h#L223-L232 - int64_t period_in_ns = entity_qos.liveliness().lease_duration.to_ns(); - double period_in_s = RCUITLS_NS_TO_S(period_in_s) * 2.0 / 3.0 + int64_t period_in_ns = entity_qos.liveliness().lease_duration.to_ns() * 2 / 3; + double period_in_s = RCUITLS_NS_TO_S(period_in_s); entity_qos.liveliness().announcement_period = eprosima::fastrtps::Duration_t(period_in_s); } From ffb4386254e976fa940936024fb4f0e025da54a4 Mon Sep 17 00:00:00 2001 From: Lucas Wendland <82680922+CursedRock17@users.noreply.github.com> Date: Thu, 2 May 2024 21:17:46 -0400 Subject: [PATCH 3/3] Typo causing error fix Co-authored-by: Chris Lalancette Signed-off-by: Lucas Wendland <82680922+CursedRock17@users.noreply.github.com> --- rmw_fastrtps_shared_cpp/src/qos.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rmw_fastrtps_shared_cpp/src/qos.cpp b/rmw_fastrtps_shared_cpp/src/qos.cpp index 64ee6ba33..5b2643152 100644 --- a/rmw_fastrtps_shared_cpp/src/qos.cpp +++ b/rmw_fastrtps_shared_cpp/src/qos.cpp @@ -142,7 +142,7 @@ bool fill_entity_qos_from_profile( // See doc at https://github.com/eProsima/Fast-RTPS/blob/ // a8691a40be6b8460b01edde36ad8563170a3a35a/include/fastrtps/qos/QosPolicies.h#L223-L232 int64_t period_in_ns = entity_qos.liveliness().lease_duration.to_ns() * 2 / 3; - double period_in_s = RCUITLS_NS_TO_S(period_in_s); + double period_in_s = RCUTILS_NS_TO_S(period_in_ns); entity_qos.liveliness().announcement_period = eprosima::fastrtps::Duration_t(period_in_s); }