fix(planning): set single depth sensor data qos for pointlcoud polling subscribers (autowarefoundation#7490)

set single depth sensor data qos for pointlcoud polling subscribers

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

Author: mkquda

common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp

@@ -26,6 +26,13 @@
 namespace tier4_autoware_utils
 {
 
+inline rclcpp::SensorDataQoS SingleDepthSensorQoS()
+{
+  rclcpp::SensorDataQoS qos;
+  qos.get_rmw_qos_profile().depth = 1;
+  return qos;
+}
+
 template <typename T, int N = 1, typename Enable = void>
 class InterProcessPollingSubscriber;
 

control/autoware_autonomous_emergency_braking/include/autoware_autonomous_emergency_braking/node.hpp

@@ -229,21 +229,14 @@ class CollisionDataKeeper
   rclcpp::Clock::SharedPtr clock_;
 };
 
-static rclcpp::SensorDataQoS SingleDepthSensorQoS()
-{
-  rclcpp::SensorDataQoS qos;
-  qos.get_rmw_qos_profile().depth = 1;
-  return qos;
-}
-
 class AEB : public rclcpp::Node
 {
 public:
   explicit AEB(const rclcpp::NodeOptions & node_options);
 
   // subscriber
   tier4_autoware_utils::InterProcessPollingSubscriber<PointCloud2> sub_point_cloud_{
-    this, "~/input/pointcloud", SingleDepthSensorQoS()};
+    this, "~/input/pointcloud", tier4_autoware_utils::SingleDepthSensorQoS()};
   tier4_autoware_utils::InterProcessPollingSubscriber<VelocityReport> sub_velocity_{
     this, "~/input/velocity"};
   tier4_autoware_utils::InterProcessPollingSubscriber<Imu> sub_imu_{this, "~/input/imu"};

planning/autoware_behavior_velocity_planner/src/node.hpp

@@ -74,7 +74,8 @@ class BehaviorVelocityPlannerNode : public rclcpp::Node
     sub_predicted_objects_{this, "~/input/dynamic_objects"};
 
   tier4_autoware_utils::InterProcessPollingSubscriber<sensor_msgs::msg::PointCloud2>
-    sub_no_ground_pointcloud_{this, "~/input/no_ground_pointcloud"};
+    sub_no_ground_pointcloud_{
+      this, "~/input/no_ground_pointcloud", tier4_autoware_utils::SingleDepthSensorQoS()};
 
   tier4_autoware_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry>
     sub_vehicle_odometry_{this, "~/input/vehicle_odometry"};

planning/autoware_surround_obstacle_checker/include/autoware_surround_obstacle_checker/node.hpp

@@ -114,7 +114,7 @@ class SurroundObstacleCheckerNode : public rclcpp::Node
   tier4_autoware_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry> sub_odometry_{
     this, "~/input/odometry"};
   tier4_autoware_utils::InterProcessPollingSubscriber<sensor_msgs::msg::PointCloud2>
-    sub_pointcloud_{this, "~/input/pointcloud"};
+    sub_pointcloud_{this, "~/input/pointcloud", tier4_autoware_utils::SingleDepthSensorQoS()};
   tier4_autoware_utils::InterProcessPollingSubscriber<PredictedObjects> sub_dynamic_objects_{
     this, "~/input/objects"};
   rclcpp::Publisher<diagnostic_msgs::msg::DiagnosticStatus>::SharedPtr pub_stop_reason_;

planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp

@@ -66,7 +66,8 @@ class MotionVelocityPlannerNode : public rclcpp::Node
     autoware_perception_msgs::msg::PredictedObjects>
     sub_predicted_objects_{this, "~/input/dynamic_objects"};
   tier4_autoware_utils::InterProcessPollingSubscriber<sensor_msgs::msg::PointCloud2>
-    sub_no_ground_pointcloud_{this, "~/input/no_ground_pointcloud"};
+    sub_no_ground_pointcloud_{
+      this, "~/input/no_ground_pointcloud", tier4_autoware_utils::SingleDepthSensorQoS()};
   tier4_autoware_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry>
     sub_vehicle_odometry_{this, "~/input/vehicle_odometry"};
   tier4_autoware_utils::InterProcessPollingSubscriber<