Add QoS overriding #13
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ivanpauno
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Mar 25, 2021
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| qos.lifespan( | ||
| rclcpp::Duration::from_nanoseconds(std::numeric_limits<std::int64_t>::max())); |
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maybe:
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| qos.lifespan( | |
| rclcpp::Duration::from_nanoseconds(std::numeric_limits<std::int64_t>::max())); | |
| qos.lifespan(RMW_DURATION_INFINITE); |
we should have something like rclcpp::Duration()::Infinity() in rclcpp though.
I'm not sure if your code above does exactly the same, thought it should.
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actually, maybe the default value should be RMW_DURATION_INFINITE (instead of -1) and the if (lifespan_ns < 0) is never needed (?)
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I wanted an easy way for users to explicitly specify an infinite duration in YAML (hence negative values), though in retrospect we could also use a string infinite or max.
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| const auto deadline_ns = qos_options.deadline().value(); | ||
| if (deadline_ns < 0) { | ||
| qos.deadline( | ||
| rclcpp::Duration::from_nanoseconds(std::numeric_limits<std::int64_t>::max())); |
* Support configuring QoS policies per topic Add new QosOptions object accessible from TopicBridgeOptions for providing QoS overrides. Reliability and durability can be optionally configured, otherwise we default to the automatic matching mechanism. History and depth can be configured, and default to 'keep last' and '10' respectively. * Support configuring QoS in YAML Add tests for parser involving QoS options. * Update example * Support configuring deadline and lifespan in YAML Users can override deadline and lifespan with number of nanoseconds, or a negative number to represent an infinite value. The default behavior was changed to be an infinite value for deadline and lifespan (instead of matching), which has a better change of not losing messages due to those policies. * Make deadline and lifespan auto-matching opt-in behavior Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
This is temporary to fix test failures due that are resolved by this fix upstream: ros2/rclcpp#1584 After the next Rolling sync, we can revert this commit. Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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I had to add a fix to CI to get a newer version of rclcpp (3951467) I've cleaned up the commits for a rebase-merge. |
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Resolves #8