Fix rosboard for unknown qos.

rosboard/rosboard.py

@@ -12,7 +12,7 @@
  import rospy # ROS1
 elif os.environ.get("ROS_VERSION") == "2":
  import rosboard.rospy2 as rospy # ROS2
- from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSDurabilityPolicy
+ from rclpy.qos import HistoryPolicy, QoSProfile, QoSReliabilityPolicy, QoSDurabilityPolicy
 else:
  print("ROS not detected. Please source your ROS environment\n(e.g. 'source /opt/ros/DISTRO/setup.bash')")
  exit(1)
@@ -134,6 +134,8 @@ def get_topic_qos(self, topic_name: str) -> QoSProfile:
  if rospy.__name__ == "rospy2":
  topic_info = rospy._node.get_publishers_info_by_topic(topic_name=topic_name)
  if len(topic_info):
+ if topic_info[0].qos_profile.history == HistoryPolicy.UNKNOWN:
+ topic_info[0].qos_profile.history = HistoryPolicy.KEEP_LAST
  return topic_info[0].qos_profile
  else:
  rospy.logwarn(f"No publishers available for topic {topic_name}. Returning sensor data QoS")