This error message usually indicates that your node has already subscribed to a topic, and another node is attempting to publish to that topic with an incompatible QoS (Quality of Service) configuration.
To resolve this issue, you can try the following methods:
Check if the QoS configurations of your node and the other node are matching. Make sure that they are running on the same QoS level.
If you cannot change the QoS configuration of the other node, you can try changing the QoS configuration of the subscribed topic on your node to be compatible with the publisher’s setting. You can use the
qos_profileparameter in thecreate_subscriptionfunction to specify the desired Quality of Service.If you need a higher level of Quality of Service, you can try upgrading the DDS implementation of the other node to support the required QoS configuration.
If you cannot change the QoS configuration of the other node and also cannot change the QoS configuration of your node, you may need to reconsider your system architecture and redesign the communication pattern between topics and nodes.
