feat(tier4_autoware_utils): default QoS setting of polling subscriber

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

Author: soblin

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

@@ -30,15 +30,16 @@ class InterProcessPollingSubscriber
   std::optional<T> data_;
 
 public:
-  explicit InterProcessPollingSubscriber(rclcpp::Node * node, const std::string & topic_name)
+  explicit InterProcessPollingSubscriber(
+    rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos = rclcpp::QoS{1})
   {
     auto noexec_callback_group =
       node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false);
     auto noexec_subscription_options = rclcpp::SubscriptionOptions();
     noexec_subscription_options.callback_group = noexec_callback_group;
 
     subscriber_ = node->create_subscription<T>(
-      topic_name, rclcpp::QoS{1},
+      topic_name, qos,
       [node]([[maybe_unused]] const typename T::ConstSharedPtr msg) { assert(false); },
       noexec_subscription_options);
   };