From 7f580d0d663d86ed281a19ddd4375eb1500be286 Mon Sep 17 00:00:00 2001
From: Sherif Nafee <shico.m.nafee@gmail.com>
Date: Tue, 2 Dec 2025 12:57:09 +0300
Subject: [PATCH 1/3] Update msg defination to to include latch flag

---
 Runtime/Core/ProBridge.cs | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/Runtime/Core/ProBridge.cs b/Runtime/Core/ProBridge.cs
index e8a1397..a4537ee 100644
--- a/Runtime/Core/ProBridge.cs
+++ b/Runtime/Core/ProBridge.cs
@@ -32,9 +32,14 @@ public class Msg
 
 #if ROS_V2
             /// <summary>
-            /// Quality od service, like as "qos_profile_system_default" or "qos_profile_sensor_data"
+            /// Quality of service, like as "qos_profile_system_default" or "qos_profile_sensor_data"
             /// </summary>
             public Qos q;
+#else
+            /// <summary>
+            /// Latching flag for the message. If true, the message is a latched version of the previous message.
+            /// </summary>
+            public bool l = false;
 #endif
             /// <summary>
             /// Data Compression Level (0-9)

From 8df4cfe574dac67b06f451d3ca118eac6d3b0a8b Mon Sep 17 00:00:00 2001
From: Sherif Nafee <shico.m.nafee@gmail.com>
Date: Tue, 2 Dec 2025 12:58:56 +0300
Subject: [PATCH 2/3] Add latch flag to serialization and deserialization
 methods

---
 Runtime/Core/ProBridge.cs | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/Runtime/Core/ProBridge.cs b/Runtime/Core/ProBridge.cs
index a4537ee..522e7af 100644
--- a/Runtime/Core/ProBridge.cs
+++ b/Runtime/Core/ProBridge.cs
@@ -105,6 +105,8 @@ public void SendMsg(PushSocket pushSocket, Msg msg)
                 { "n", msg.n },
 #if ROS_V2
                 { "q", msg.q.GetValue() },
+#else
+                { "l", msg.l },
 #endif
                 { "c", msg.c }
             };
@@ -211,6 +213,8 @@ private Msg DeserializeMessage(byte[] headerBytes)
                     msg.n = (string)messageData["n"];
 #if ROS_V2
                     msg.q = new Qos(messageData["q"]);
+#else
+                    msg.l = (bool)messageData["l"];
 #endif
                     msg.c = (int)tmpC;
                     

From e572c8676f2a33dd8bfbbed4af0b8c44b2ea0086 Mon Sep 17 00:00:00 2001
From: Sherif Nafee <shico.m.nafee@gmail.com>
Date: Tue, 2 Dec 2025 12:59:15 +0300
Subject: [PATCH 3/3] Set latch flag when sending tf messages

---
 Runtime/Tx/Tf/TfSender.cs | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Runtime/Tx/Tf/TfSender.cs b/Runtime/Tx/Tf/TfSender.cs
index 19d9944..c517059 100644
--- a/Runtime/Tx/Tf/TfSender.cs
+++ b/Runtime/Tx/Tf/TfSender.cs
@@ -173,6 +173,8 @@ protected void SendMsg(bool staticT = false)
                     c = compressionLevel,
 #if ROS_V2
                     q = staticT ? __staticQos : __dynamicQos,
+#else
+                    l = staticT,
 #endif
                     d = data
                 };