Different qos for mocap and crazyswarm

[SkogsTomte]

I am running crazyswarm2 with qualisys and encountered the problem that the messages published to /poses from the mocap node could not be read by crazyswarm server because the messages had different qos. These were the warnings:

[crazyflie_server-4] [WARN] [1693406308.889943154] [crazyflie_server]: New publisher discovered on topic '/poses', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: DEADLINE_QOS_POLICY
[motion_capture_tracking_node-1] [WARN] [1693406308.902118724] [motion_capture_tracking]: New subscription discovered on topic '/poses', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: DEADLINE_QOS_POLICY

I solved it by defining qos for the publisher in motion_capture_tracking_node.cpp to fit what is expected from crazyswarm, but i suspect there is an easier way, as there seem to be an option for qos in the motion_capture_tracking config file in the crazyswarm2 package. Now it says sensor, but I don't know how to change it for it to work with qualisys

[whoenig]

Did you pull the latest changes from this repository (ros2 branch)? If you have an older version, it doesn't know about the new config file option.