Enable manual_by_node and node liveliness assertion (#298)

Signed-off-by: Emerson Knapp <eknapp@amazon.com>
ros2 · Jul 2, 2019 · f8aec9b · f8aec9b
1 parent 419857d
commit f8aec9b
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Showing 2 changed files with 3 additions and 9 deletions.
diff --git a/rmw_fastrtps_shared_cpp/src/qos.cpp b/rmw_fastrtps_shared_cpp/src/qos.cpp
@@ -158,12 +158,8 @@ get_datawriter_qos(
 }
 
 bool
-is_valid_qos(const rmw_qos_profile_t & qos_policies)
+is_valid_qos(const rmw_qos_profile_t & /* qos_policies */)
 {
-  if (qos_policies.liveliness == RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE) {
-    RMW_SET_ERROR_MSG("Liveliness policy MANUAL_BY_NODE is not yet supported for fastrtps.");
-    return false;
-  }
   return true;
 }
 

diff --git a/rmw_fastrtps_shared_cpp/src/rmw_node.cpp b/rmw_fastrtps_shared_cpp/src/rmw_node.cpp
@@ -386,10 +386,8 @@ __rmw_node_assert_liveliness(
     return RMW_RET_ERROR;
   }
 
-  // node_info->participant->assert_liveliness();
-  RMW_SET_ERROR_MSG("assert_liveliness() of node is currently not supported");
-
-  return RMW_RET_UNSUPPORTED;
+  node_info->participant->assert_liveliness();
+  return RMW_RET_OK;
 }
 
 const rmw_guard_condition_t *