Dear ROS Community,
These days I have been working with various packages related to images (ros_astra_camera, image_common, image_pipeline) and webots. I have found that the QoS of the images is a problem. As far as I know, an image should be published by default as
rclcpp::SensorDataQoS (let’s talk in C ++, although I include any RCL), and the associated info as
rclcpp:QoS(N).transient_local(). In general, any sensory data should be like this.
I would like to know if this is correct, and if we should start to make it effective in the packages we are developing. I was working on several PRs to these packages to make this effective, but I think maybe this is the right place to agree on it.
Finally, I would like to know why (I am sure there should be a technical reason) a subscriber has his own QoS, instead of automatically using the quality of service of the publisher (with warnings if there is more than one publisher with a different QoS). I think this can make life more pleasant for us.