// Feature: topic QoS reliable + deadline
//
//   spanda check examples/features/topic_qos.sd
//   spanda run examples/features/topic_qos.sd

robot QosRover {
  bus sim;

  topic scans: Scan {
    qos reliable;
    rate 20Hz;
    deadline 50ms;
  } on sim;

  sensor lidar: Lidar on "/scan";
  actuator wheels: DifferentialDrive;

  behavior stream() {
    loop every 50ms {
      let reading = lidar.read();
      publish scans(reading);
      wheels.stop();
    }
  }
}
