Fix services QoS

io_gripper_controller/src/io_gripper_controller.cpp

@@ -20,7 +20,32 @@
 #include <vector>
 
 #include "controller_interface/helpers.hpp"
-
+#include "rclcpp/version.h"
+
+namespace
+{  // utility
+
+// Changed services history QoS to keep all so we don't lose any client service calls
+// \note The versions conditioning is added here to support the source-compatibility with Humble
+#if RCLCPP_VERSION_MAJOR >= 17
+rclcpp::QoS qos_services =
+  rclcpp::QoS(rclcpp::QoSInitialization(RMW_QOS_POLICY_HISTORY_KEEP_ALL, 1))
+    .reliable()
+    .durability_volatile();
+#else
+static const rmw_qos_profile_t qos_services = {
+  RMW_QOS_POLICY_HISTORY_KEEP_ALL,
+  1,  // message queue depth
+  RMW_QOS_POLICY_RELIABILITY_RELIABLE,
+  RMW_QOS_POLICY_DURABILITY_VOLATILE,
+  RMW_QOS_DEADLINE_DEFAULT,
+  RMW_QOS_LIFESPAN_DEFAULT,
+  RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
+  RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
+  false};
+#endif
+
+}  // namespace
 
 namespace io_gripper_controller
 {
@@ -866,8 +891,7 @@ controller_interface::CallbackReturn IOGripperController::prepare_publishers_and
     };
 
     open_service_ = get_node()->create_service<OpenCloseSrvType>(
-      "~/gripper_open", open_service_callback, rmw_qos_profile_services_hist_keep_all,
-      open_service_callback_group_);
+      "~/gripper_open", open_service_callback, qos_services, open_service_callback_group_);
 
     // close service
     auto close_service_callback = [&](
@@ -940,8 +964,8 @@ controller_interface::CallbackReturn IOGripperController::prepare_publishers_and
     };
 
     configure_gripper_service_ = get_node()->create_service<ConfigSrvType>(
-      "~/reconfigure_to", configure_gripper_service_callback,
-      rmw_qos_profile_services_hist_keep_all, reconfigure_service_callback_group_);
+      "~/reconfigure_to", configure_gripper_service_callback, qos_services,
+      reconfigure_service_callback_group_);
   }
   else
   {