通过配置文件修改ros2中bag中某话题的播放策略

背景

有警告

New subscription discovered on topic '/corrimu', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY

解决方法

编写yaml文件qos.yaml

/corrimu:
  reliability: reliable
  durability: volatile
  history: keep_last
  depth: 10

命令执行

ros2 bag play /home/autoware/xxx.db3 --qos-profile-overrides-path src/xxx/qos.yaml