chore(occpancy_grid_outlier_filter): change obstacle_segmentation/pointcloud QoS (#12103)

* chore(occpancy_grid_outlier_filter): change obstacle_segmentation/pointcloud qos.

Signed-off-by: Takayuki AKAMINE <takayuki.akamine@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: Takayuki AKAMINE <takayuki.akamine@tier4.jp>
Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

Author: 3 people

perception/autoware_occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.cpp

@@ -254,7 +254,15 @@ OccupancyGridMapOutlierFilterComponent::OccupancyGridMapOutlierFilterComponent(
     std::bind(
       &OccupancyGridMapOutlierFilterComponent::onOccupancyGridMapAndPointCloud2, this,
       std::placeholders::_1, std::placeholders::_2));
-  pointcloud_pub_ = create_publisher<PointCloud2>("~/output/pointcloud", rclcpp::SensorDataQoS());
+
+  /**
+   * To avoid data loss and simplify the operation, the hard coded QoS setting as Reliable is used
+   * for the publisher of obstacle_segmentation/pointcloud. If there is a clear distinction between
+   * data collection and autonomous driving modes, PublisherOptions with
+   * QosOverridingOptions::with_default_policies should be good options instead of hard-coding QoS
+   * setting.
+   */
+  pointcloud_pub_ = create_publisher<PointCloud2>("~/output/pointcloud", rclcpp::QoS{5}.reliable());
 
   /* Radius search 2d filter */
   if (use_radius_search_2d_filter) {