fix(rclcpp_components): increase the service queue sizes in component_container (backport #2363) (#2380)

* fix(rclcpp_components): increase the service queue sizes in component_container (#2363)

* Use rmw_qos_profile_t.

Humble doesn't support create_service with the rclcpp::QoS object.

Signed-off-by: M. Fatih Cırıt <[email protected]>
(cherry picked from commit 9c098e5)
Signed-off-by: Chris Lalancette <[email protected]>

Author: mergify[bot]

rclcpp_components/src/component_manager.cpp

@@ -37,12 +37,16 @@ ComponentManager::ComponentManager(
 : Node(std::move(node_name), node_options),
   executor_(executor)
 {
+  rmw_qos_profile_t service_qos = rmw_qos_profile_services_default;
+  service_qos.depth = 200;
   loadNode_srv_ = create_service<LoadNode>(
     "~/_container/load_node",
-    std::bind(&ComponentManager::on_load_node, this, _1, _2, _3));
+    std::bind(&ComponentManager::on_load_node, this, _1, _2, _3),
+    service_qos);
   unloadNode_srv_ = create_service<UnloadNode>(
     "~/_container/unload_node",
-    std::bind(&ComponentManager::on_unload_node, this, _1, _2, _3));
+    std::bind(&ComponentManager::on_unload_node, this, _1, _2, _3),
+    service_qos);
   listNodes_srv_ = create_service<ListNodes>(
     "~/_container/list_nodes",
     std::bind(&ComponentManager::on_list_nodes, this, _1, _2, _3));