From a3979b448c5f49e55524d433af3eed347dd37679 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= <ahcorde@gmail.com>
Date: Thu, 11 Jul 2024 18:06:45 +0200
Subject: [PATCH] Clean rolling CI (#82)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
---
 .github/workflows/test.yaml                   | 106 +-----------------
 .../src/turtle_tf2_message_filter.cpp         |   4 +-
 2 files changed, 3 insertions(+), 107 deletions(-)

diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index 580965b..e857ef3 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -9,7 +9,7 @@ jobs:
   build_and_test_source_rolling:
     runs-on: ubuntu-latest
     container:
-      image: rostooling/setup-ros-docker:ubuntu-jammy-latest
+      image: rostooling/setup-ros-docker:ubuntu-noble-latest
     steps:
     - name: Build and run tests
       id: action-ros-ci
@@ -32,62 +32,10 @@ jobs:
               "pytest-args": ["-m", "not xfail"]
             }
           }
-  build_and_test_source_humble:
-    runs-on: ubuntu-latest
-    container:
-      image: rostooling/setup-ros-docker:ubuntu-jammy-latest
-    steps:
-    - name: Build and run tests
-      id: action-ros-ci
-      uses: ros-tooling/action-ros-ci@v0.3
-      with:
-        package-name: |
-          turtle_tf2_py
-          turtle_tf2_cpp
-        target-ros2-distro: humble
-        vcs-repo-file-url: https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos
-        colcon-defaults: |
-          {
-            "build": {
-              "cmake-args": [
-                "-DCMAKE_CXX_FLAGS=\"-Werror\""
-              ]
-            },
-            "test": {
-              "ctest-args": ["-LE", "xfail"],
-              "pytest-args": ["-m", "not xfail"]
-            }
-          }
-  build_and_test_source_iron:
-    runs-on: ubuntu-latest
-    container:
-      image: rostooling/setup-ros-docker:ubuntu-jammy-latest
-    steps:
-    - name: Build and run tests
-      id: action-ros-ci
-      uses: ros-tooling/action-ros-ci@v0.3
-      with:
-        package-name: |
-          turtle_tf2_py
-          turtle_tf2_cpp
-        target-ros2-distro: iron
-        vcs-repo-file-url: https://raw.githubusercontent.com/ros2/ros2/iron/ros2.repos
-        colcon-defaults: |
-          {
-            "build": {
-              "cmake-args": [
-                "-DCMAKE_CXX_FLAGS=\"-Werror\""
-              ]
-            },
-            "test": {
-              "ctest-args": ["-LE", "xfail"],
-              "pytest-args": ["-m", "not xfail"]
-            }
-          }
   build_and_test_binaries_rolling:
     runs-on: ubuntu-latest
     container:
-      image: rostooling/setup-ros-docker:ubuntu-jammy-latest
+      image: rostooling/setup-ros-docker:ubuntu-noble-latest
     steps:
     - name: Build and run tests
       id: action-ros-ci
@@ -109,53 +57,3 @@ jobs:
               "pytest-args": ["-m", "not xfail"]
             }
           }
-  build_and_test_binaries_humble:
-    runs-on: ubuntu-latest
-    container:
-      image: rostooling/setup-ros-docker:ubuntu-jammy-latest
-    steps:
-    - name: Build and run tests
-      id: action-ros-ci
-      uses: ros-tooling/action-ros-ci@v0.3
-      with:
-        package-name: |
-          turtle_tf2_py
-          turtle_tf2_cpp
-        target-ros2-distro: humble
-        colcon-defaults: |
-          {
-            "build": {
-              "cmake-args": [
-                "-DCMAKE_CXX_FLAGS=\"-Werror\""
-              ]
-            },
-            "test": {
-              "ctest-args": ["-LE", "xfail"],
-              "pytest-args": ["-m", "not xfail"]
-            }
-          }
-  build_and_test_binaries_iron:
-    runs-on: ubuntu-latest
-    container:
-      image: rostooling/setup-ros-docker:ubuntu-jammy-latest
-    steps:
-    - name: Build and run tests
-      id: action-ros-ci
-      uses: ros-tooling/action-ros-ci@v0.3
-      with:
-        package-name: |
-          turtle_tf2_py
-          turtle_tf2_cpp
-        target-ros2-distro: iron
-        colcon-defaults: |
-          {
-            "build": {
-              "cmake-args": [
-                "-DCMAKE_CXX_FLAGS=\"-Werror\""
-              ]
-            },
-            "test": {
-              "ctest-args": ["-LE", "xfail"],
-              "pytest-args": ["-m", "not xfail"]
-            }
-          }
diff --git a/turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp b/turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp
index 2e8fbc3..5081218 100644
--- a/turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp
+++ b/turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp
@@ -52,9 +52,7 @@ class PoseDrawer : public rclcpp::Node
     tf2_listener_ =
       std::make_shared<tf2_ros::TransformListener>(*tf2_buffer_);
 
-    point_sub_.subscribe(
-      this, "/turtle3/turtle_point_stamped",
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)));
+    point_sub_.subscribe(this, "/turtle3/turtle_point_stamped", rclcpp::QoS(10));
     tf2_filter_ = std::make_shared<tf2_ros::MessageFilter<geometry_msgs::msg::PointStamped>>(
       point_sub_, *tf2_buffer_, target_frame_, 100, this->get_node_logging_interface(),
       this->get_node_clock_interface(), buffer_timeout);