Pointcloud2 display set QoS to best effort

rviz_common/include/rviz_common/properties/qos_profile_property.hpp

@@ -68,6 +68,8 @@ class RVIZ_COMMON_PUBLIC QosProfileProperty : public QObject
    */
   void initialize(std::function<void(rclcpp::QoS)> qos_changed_callback);
 
+  void setBestEffort();
+
 private Q_SLOTS:
   void updateQosProfile();
 

rviz_common/src/rviz_common/properties/qos_profile_property.cpp

@@ -124,6 +124,11 @@ void QosProfileProperty::initialize(std::function<void(rclcpp::QoS)> qos_changed
   qos_changed_callback_ = std::move(qos_changed_callback);
 }
 
+void QosProfileProperty::setBestEffort()
+{
+  reliability_policy_property_->setStdString("Best Effort");
+}
+
 void QosProfileProperty::updateQosProfile()
 {
   rmw_qos_profile_t profile = rmw_qos_profile_default;

rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud2_display.cpp

@@ -57,6 +57,8 @@ void PointCloud2Display::onInitialize()
 {
   PC2RDClass::onInitialize();
   point_cloud_common_->initialize(context_, scene_node_);
+
+  qos_profile_property_->setBestEffort();
 }
 
 void PointCloud2Display::processMessage(const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud)

rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud_display.cpp

@@ -52,6 +52,8 @@ void PointCloudDisplay::onInitialize()
 {
   MFDClass::onInitialize();
   point_cloud_common_->initialize(context_, scene_node_);
+
+  qos_profile_property_->setBestEffort();
 }
 
 void PointCloudDisplay::processMessage(const sensor_msgs::msg::PointCloud::ConstSharedPtr cloud)