Creating a Subscriber with TopicStatistics Applies Custom QoS to /statistics Publisher

[JWhitleyWork]

Bug report

Required Info:

• Operating System:
  • Ubuntu 22.04
• Installation type:
  • binaries
• Version or commit hash:
  • Humble, Iron
• DDS implementation:
  • Any
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

rclcpp::SubscriptionOptions opts{};
opts.topic_stats_options.state = rclcpp::TopicStatisticsState::Enable;

rclcpp::QoS bad_qos{};

this->creare_subscription<DummyMsg>("/some_topic", bad_qos.history(rclcpp::HistoryPolicy::Unknown), cb_func, opts);

Expected behavior

The /statistics publisher has a stable, well-defined QoS profile.

Actual behavior

The QoS profile passed to create_subscription is applied to both the subscription and the /statistics publisher. Code reference in humble and iron.

[fujitatomoya]

@JWhitleyWork that makes sense to me. adding QoS to TopicStatisticsOptions struct as statistics publisher QoS configuration.

[CursedRock17]

Since that PR was merged this issue should be complete right?

[clalancette]

Yeah, I'm going to close it. Thanks!