fix qos

src/signage/src/signage/announce_controller.py

@@ -4,7 +4,6 @@
 
 from PyQt5.QtMultimedia import QSound
 from rclpy.duration import Duration
-from rclpy.qos import QoSProfile, DurabilityPolicy
 from ament_index_python.packages import get_package_share_directory
 from pulsectl import Pulse
 
@@ -44,15 +43,10 @@ def __init__(self, node, autoware_interface, parameter_interface):
         self._pulse = Pulse()
         # Get default sink at startup
         self._sink = self._pulse.get_sink_by_name(self._pulse.server_info().default_sink_name)
-        self._get_volume_pub = self._node.create_publisher(
-            Float32,
-            "~/get/volume",
-            QoSProfile(depth=1, durability=DurabilityPolicy.TRANSIENT_LOCAL),
-        )
+        self._get_volume_pub = self._node.create_publisher(Float32, "~/get/volume", 1)
+        self._node.create_timer(1.0, self.publish_volume_callback)
         self._node.create_service(SetVolume, "~/set/volume", self.set_volume)
 
-        self._get_volume_pub.publish(Float32(data=self._sink.volume.value_flat))
-
     def process_pending_announce(self):
         try:
             for play_sound in self._pending_announce_list:
@@ -120,10 +114,12 @@ def announce_going_to_depart_and_arrive(self, message):
             self.send_announce(message)
             self._prev_depart_and_arrive_type = message
 
+    def publish_volume_callback(self):
+        self._get_volume_pub.publish(Float32(data=self._sink.volume.value_flat))
+
     def set_volume(self, request, response):
         try:
             self._pulse.volume_set_all_chans(self._sink, request.volume)
-            self._get_volume_pub.publish(Float32(data=self._sink.volume.value_flat))
             response.status.code = ResponseStatus.SUCCESS
         except Exception:
             response.status.code = ResponseStatus.ERROR