# talker_qos

*This file is ai generated. Do not edit this file directly. Instead, edit the node source code and run the generate-node-docs command to update this file.*

## Description

A ROS2 node that publishes string messages with configurable QoS (Quality of Service) settings. It demonstrates the difference between reliable and best-effort communication patterns for publishers.

## Publishers

- **Topic**: `/chatter`
  - **Type**: `example_interfaces/msg/String`
  - **QoS**: Configurable (reliable or best-effort sensor data profile)
  - **Description**: Publishes "Hello World" messages using specified QoS profile

## Parameters

- `--reliable`: Set QoS profile to reliable (default: False, uses best-effort sensor data profile)
- `-n, --number_of_cycles`: Number of sending attempts (default: 20)

## Example Usage

```bash
# Run with default best-effort QoS
ros2 run demo_nodes_py talker_qos

# Run with reliable QoS
ros2 run demo_nodes_py talker_qos --reliable

# Run with reliable QoS and 50 cycles
ros2 run demo_nodes_py talker_qos --reliable -n 50
```

When using reliable QoS, the node will print:
```
[INFO] [talker_qos]: Reliable talker
[INFO] [talker_qos]: Publishing: "Hello World: 0"
...
```

When using best-effort QoS, the node will print:
```
[INFO] [talker_qos]: Best effort talker
[INFO] [talker_qos]: Publishing: "Hello World: 0"
...
```

To test QoS compatibility:
```bash
# Terminal 1: Run best-effort talker
ros2 run demo_nodes_py talker_qos

# Terminal 2: Run best-effort listener
ros2 run demo_nodes_py listener_qos
```