Enable QoS overrides

[audrow]

This is adding QoS overrides, which were added in ros2/rclcpp#1408.

This PR relies on

• Expose Subscription Options - V2 ros2/message_filters#56

[audrow]

@SteveMacenski, the required PR has been merged in. I believe this is ready to merge.

[audrow]

I'm now using rclcpp::QosOverridingOptions::with_default_policies(), which removes much duplication. It doesn't enable all of the QoS overrides, but after some discussion with the ROS 2 team, it was determined that not all the options are desirable: ros-perception/image_pipeline#651 (comment).

[SteveMacenski]

@audrow Some change here or in your message filters PR is failing to build robot_localization with galactic ros2/message_filters#56.

https://build.ros2.org/job/Gbin_uF64__robot_localization__ubuntu_focal_amd64__binary/7/console

23:08:22 /tmp/binarydeb/ros-galactic-robot-localization-3.2.2/src/ros_robot_localization_listener.cpp: In constructor ‘robot_localization::RosRobotLocalizationListener::RosRobotLocalizationListener(rclcpp::Node::SharedPtr, rclcpp::SubscriptionOptions)’:
23:08:31 /tmp/binarydeb/ros-galactic-robot-localization-3.2.2/src/ros_robot_localization_listener.cpp:90:26: error: no matching function for call to ‘message_filters::Subscriber<nav_msgs::msg::Odometry_<std::allocator<void> > >::Subscriber(rclcpp::Node::SharedPtr&, const char [14], rmw_qos_profile_t&, rclcpp::SubscriptionOptions&)’
23:08:31    90 |   tf_listener_(tf_buffer_)
23:08:31       |                          ^
23:08:31 In file included from /tmp/binarydeb/ros-galactic-robot-localization-3.2.2/include/robot_localization/ros_robot_localization_listener.hpp:37,
23:08:31                  from /tmp/binarydeb/ros-galactic-robot-localization-3.2.2/src/ros_robot_localization_listener.cpp:51:
23:08:31 /opt/ros/galactic/include/message_filters/subscriber.h:129:3: note: candidate: ‘message_filters::Subscriber<M>::Subscriber() [with M = nav_msgs::msg::Odometry_<std::allocator<void> >]’
23:08:31   129 |   Subscriber() = default;
23:08:31       |   ^~~~~~~~~~
23:08:31 /opt/ros/galactic/include/message_filters/subscriber.h:129:3: note:   candidate expects 0 arguments, 4 provided
23:08:31 /opt/ros/galactic/include/message_filters/subscriber.h:121:3: note: candidate: ‘message_filters::Subscriber<M>::Subscriber(rclcpp::Node*, const string&, rmw_qos_profile_t) [with M = nav_msgs::msg::Odometry_<std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_t]’
23:08:31   121 |   Subscriber(rclcpp::Node* node, const std::string& topic, const rmw_qos_profile_t qos = rmw_qos_profile_default)
23:08:31       |   ^~~~~~~~~~
23:08:31 /opt/ros/galactic/include/message_filters/subscriber.h:121:3: note:   candidate expects 3 arguments, 4 provided
23:08:31 /opt/ros/galactic/include/message_filters/subscriber.h:116:3: note: candidate: ‘message_filters::Subscriber<M>::Subscriber(rclcpp::Node::SharedPtr, const string&, rmw_qos_profile_t) [with M = nav_msgs::msg::Odometry_<std::allocator<void> >; rclcpp::Node::SharedPtr = std::shared_ptr<rclcpp::Node>; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_t]’
23:08:31   116 |   Subscriber(rclcpp::Node::SharedPtr node, const std::string& topic, const rmw_qos_profile_t qos = rmw_qos_profile_default)
23:08:31       |   ^~~~~~~~~~
23:08:31 /opt/ros/galactic/include/message_filters/subscriber.h:116:3: note:   candidate expects 3 arguments, 4 provided
23:08:31 /tmp/binarydeb/ros-galactic-robot-localization-3.2.2/src/ros_robot_localization_listener.cpp:90:26: error: no matching function for call to ‘message_filters::Subscriber<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >::Subscriber(rclcpp::Node::SharedPtr&, const char [22], rmw_qos_profile_t&, rclcpp::SubscriptionOptions&)’
23:08:31    90 |   tf_listener_(tf_buffer_)
23:08:31       |                          ^
23:08:31 In file included from /tmp/binarydeb/ros-galactic-robot-localization-3.2.2/include/robot_localization/ros_robot_localization_listener.hpp:37,
23:08:31                  from /tmp/binarydeb/ros-galactic-robot-localization-3.2.2/src/ros_robot_localization_listener.cpp:51:
23:08:31 /opt/ros/galactic/include/message_filters/subscriber.h:129:3: note: candidate: ‘message_filters::Subscriber<M>::Subscriber() [with M = geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >]’
23:08:31   129 |   Subscriber() = default;
23:08:31       |   ^~~~~~~~~~
23:08:31 /opt/ros/galactic/include/message_filters/subscriber.h:129:3: note:   candidate expects 0 arguments, 4 provided
23:08:31 /opt/ros/galactic/include/message_filters/subscriber.h:121:3: note: candidate: ‘message_filters::Subscriber<M>::Subscriber(rclcpp::Node*, const string&, rmw_qos_profile_t) [with M = geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_t]’
23:08:31   121 |   Subscriber(rclcpp::Node* node, const std::string& topic, const rmw_qos_profile_t qos = rmw_qos_profile_default)
23:08:31       |   ^~~~~~~~~~
23:08:31 /opt/ros/galactic/include/message_filters/subscriber.h:121:3: note:   candidate expects 3 arguments, 4 provided
23:08:31 /opt/ros/galactic/include/message_filters/subscriber.h:116:3: note: candidate: ‘message_filters::Subscriber<M>::Subscriber(rclcpp::Node::SharedPtr, const string&, rmw_qos_profile_t) [with M = geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >; rclcpp::Node::SharedPtr = std::shared_ptr<rclcpp::Node>; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_t]’
23:08:31   116 |   Subscriber(rclcpp::Node::SharedPtr node, const std::string& topic, const rmw_qos_profile_t qos = rmw_qos_profile_default)
23:08:31       |   ^~~~~~~~~~

Is this something you can patch? It looks like you may have removed (?) the default constructor

[audrow]

Hey @SteveMacenski, I believe that this is because the message filters PR didn't get into Galactic (it was done after the freeze). I'll ask the ROS boss what to do.

[audrow]

Since the change wasn't meant to make it in Galactic, I made a PR reverting the change on the galactic branch: #670.