From 1b9a23c62d4e8dd2963662e72ec53cade45438ee Mon Sep 17 00:00:00 2001
From: Wouter Heerwegh <wouter.heerwegh@gmail.com>
Date: Mon, 16 Dec 2024 15:18:23 +0100
Subject: [PATCH] Add fsds as a namespace for convention and to align with
 ROS1, make testing_only/track latching

---
 ros2/src/fsds_ros2_bridge/launch/fsds_ros2_bridge.launch.py | 1 +
 ros2/src/fsds_ros2_bridge/src/airsim_ros_wrapper.cpp        | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/ros2/src/fsds_ros2_bridge/launch/fsds_ros2_bridge.launch.py b/ros2/src/fsds_ros2_bridge/launch/fsds_ros2_bridge.launch.py
index b8f76687..72d73675 100644
--- a/ros2/src/fsds_ros2_bridge/launch/fsds_ros2_bridge.launch.py
+++ b/ros2/src/fsds_ros2_bridge/launch/fsds_ros2_bridge.launch.py
@@ -60,6 +60,7 @@ def generate_launch_description():
             package='fsds_ros2_bridge',
             executable='fsds_ros2_bridge',
             name='ros_bridge',
+            namespace='fsds',
             output='screen',
             on_exit=launch.actions.Shutdown(),
             parameters=[
diff --git a/ros2/src/fsds_ros2_bridge/src/airsim_ros_wrapper.cpp b/ros2/src/fsds_ros2_bridge/src/airsim_ros_wrapper.cpp
index de78a576..2ffdc4cc 100644
--- a/ros2/src/fsds_ros2_bridge/src/airsim_ros_wrapper.cpp
+++ b/ros2/src/fsds_ros2_bridge/src/airsim_ros_wrapper.cpp
@@ -246,7 +246,7 @@ void AirsimROSWrapper::create_ros_pubs_from_settings_json()
 
         if(!competition_mode_) {
             odom_pub = nh_->create_publisher<nav_msgs::msg::Odometry>("testing_only/odom", 10);
-            track_pub = nh_->create_publisher<fs_msgs::msg::Track>("testing_only/track", 10);
+            track_pub = nh_->create_publisher<fs_msgs::msg::Track>("testing_only/track", rclcpp::QoS(10).transient_local());
 			extra_info_pub = nh_->create_publisher<fs_msgs::msg::ExtraInfo>("testing_only/extra_info", 10);
         }