ROS2: set QoS to best_effort #40
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April 9, 2023 11:32
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ros2 使用了 DDS 通信机制，不同于 ros 单一的通信机制，它可以配置多种参数以适配不同的应用场景
这个 QoS 配置是根据 SEnsorDataQos 配置修改的
系统默认通信方式的在大多数性能足够的电脑上没有问题，可以跑到指定的频率，但在一些资源受限的 arm 平台上效果非常差，修改 QoS 配置后可以跑到指定频率
在 khadas-vim4、香橙派5 上测试过