# rosbag2_qos.yaml
# QoS overrides for rosbag2 recording
# 用于 rosbag2 录制的 QoS 配置
# 
# Usage / 使用方法:
#   ros2 bag record -a --qos-profile-overrides-path rosbag2_qos.yaml

# High frequency data (IMU 400Hz, Odom 100Hz)
# 高频数据 (IMU 400Hz, 里程计 100Hz)
/odin1/imu:
  reliability: reliable
  history: keep_last
  depth: 4000

/odin1/odometry_highfreq:
  reliability: reliable
  history: keep_last
  depth: 4000

/odin1/image/compressed:
  reliability: reliable
  history: keep_last
  depth: 100

/odin1/cloud_raw:
  reliability: reliable
  history: keep_last
  depth: 100

/odin1/cloud_slam:
  reliability: reliable
  history: keep_last
  depth: 100