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Opt-in to qos overriding for publisher #246

Merged
merged 1 commit into from
Jun 14, 2022
Merged

Opt-in to qos overriding for publisher #246

merged 1 commit into from
Jun 14, 2022

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ihasdapie
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Opts-in to recently avaliable QOS overriding for image_transport republish since a common use case with this package is working with sensor_data qos.

Signed-off-by: Brian Chen brian.chen@openrobotics.org

@ihasdapie
opt-in to qos overriding for publisher
6886d39 
Signed-off-by: Brian Chen <brian.chen@openrobotics.org>
@gbiggs
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gbiggs commented Jun 5, 2022

CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Windows Build Status

@jacobperron jacobperron merged commit 12a7f52 into ros-perception:ros2 Jun 14, 2022
@ihasdapie ihasdapie mentioned this pull request Jun 15, 2022
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@wep21
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wep21 commented Nov 19, 2022 •
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@gbiggs @jacobperron Is it possible to backport this PR to humble? I think this function is crucial to tune throughput.

EzraBrooks pushed a commit to EzraBrooks/image_common that referenced this pull request Feb 20, 2023
@ihasdapie @EzraBrooks
opt-in to qos overriding for publisher (ros-perception#246)
fe797db 
Signed-off-by: Brian Chen <brian.chen@openrobotics.org>
@MarcoMagriDev
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Is there any reason why the reliability has not been exposed?

I am in the situation in which my publisher has a sensor_data_qos and i would like to set the reliability of the image republisher subscriber to BEST_EFFORT in order to achieve subscribing.

@ahcorde
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ahcorde commented Oct 10, 2023

@MarcoMagriDev check this PR #288 it might be useful

@MarcoMagriDev
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@ahcorde thanks for your fast reply.

From what I understand from the PR you linked is somewhat of a low-level enabler of the functionality I am requesting. However, to set BEST_EFFORT using the functionality developed by #288 I would have to rewrite the republisher.cpp file (correct me if I am wrong).

On the other hand, by simply add rclcpp::QosPolicyKind::Reliability to the list of QosOverridingOptions it is possibile to specify ` without changing the source code but just working with parameters.

@charlielito charlielito mentioned this pull request Jan 19, 2024
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tonynajjar
tonynajjar reviewed May 14, 2024
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image_transport/src/republish.cpp
Comment on lines +86 to +87
node.get(), in_topic, std::bind(pub_mem_fn, &pub, std::placeholders::_1),
in_transport, rmw_qos_profile_default, sub_options);
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Shouldn't this also be done in the subscription in the else clause below?

tonynajjar pushed a commit to angsa-robotics/image_common that referenced this pull request May 15, 2024
@ihasdapie @tonynajjar
opt-in to qos overriding for publisher (ros-perception#246)
c42401d 
Signed-off-by: Brian Chen <brian.chen@openrobotics.org>
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@tonynajjar tonynajjar tonynajjar left review comments

@gbiggs gbiggs gbiggs approved these changes

@jacobperron jacobperron jacobperron approved these changes

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7 participants
@ihasdapie @gbiggs @wep21 @MarcoMagriDev @ahcorde @jacobperron @tonynajjar