Made rmw_qos_profile argument optional

ros2 · Oct 19, 2015 · 4151bcb · 4151bcb
1 parent 1d5720f
commit 4151bcb
Show file tree

Hide file tree

Showing 3 changed files with 11 additions and 10 deletions.
diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
@@ -112,13 +112,14 @@ class Node
   template<typename MessageT>
   typename rclcpp::publisher::Publisher<MessageT>::SharedPtr
   create_publisher(
-    const std::string & topic_name, const rmw_qos_profile_t & qos_profile);
+    const std::string & topic_name,
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default);
 
   /// Create and return a Subscription.
   /**
    * \param[in] topic_name The topic to subscribe on.
-   * \param[in] qos_profile The quality of service profile to pass on to the rmw implementation.
    * \param[in] callback The user-defined callback function.
+   * \param[in] qos_profile The quality of service profile to pass on to the rmw implementation.
    * \param[in] group The callback group for this subscription. NULL for no callback group.
    * \param[in] ignore_local_publications True to ignore local publications.
    * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
@@ -131,9 +132,9 @@ class Node
   template<typename MessageT, typename CallbackT>
   typename rclcpp::subscription::Subscription<MessageT>::SharedPtr
   create_subscription(
-    const std::string & topic_name,
-    const rmw_qos_profile_t & qos_profile,
     CallbackT callback,
+    const std::string & topic_name,
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
     bool ignore_local_publications = false,
     typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT>::SharedPtr
@@ -142,8 +143,8 @@ class Node
   /// Create and return a Subscription.
   /**
    * \param[in] topic_name The topic to subscribe on.
-   * \param[in] qos_history_depth The depth of the subscription's incoming message queue.
    * \param[in] callback The user-defined callback function.
+   * \param[in] qos_history_depth The depth of the subscription's incoming message queue.
    * \param[in] group The callback group for this subscription. NULL for no callback group.
    * \param[in] ignore_local_publications True to ignore local publications.
    * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
@@ -156,9 +157,9 @@ class Node
   template<typename MessageT, typename CallbackT>
   typename rclcpp::subscription::Subscription<MessageT>::SharedPtr
   create_subscription(
+    CallbackT callback,
     const std::string & topic_name,
     size_t qos_history_depth,
-    CallbackT callback,
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
     bool ignore_local_publications = false,
     typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT>::SharedPtr

diff --git a/rclcpp/include/rclcpp/node_impl.hpp b/rclcpp/include/rclcpp/node_impl.hpp
@@ -208,9 +208,9 @@ Node::group_in_node(callback_group::CallbackGroup::SharedPtr group)
 template<typename MessageT, typename CallbackT>
 typename rclcpp::subscription::Subscription<MessageT>::SharedPtr
 Node::create_subscription(
+  CallbackT callback,
   const std::string & topic_name,
   const rmw_qos_profile_t & qos_profile,
-  CallbackT callback,
   rclcpp::callback_group::CallbackGroup::SharedPtr group,
   bool ignore_local_publications,
   typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT>::SharedPtr
@@ -309,9 +309,9 @@ Node::create_subscription(
 template<typename MessageT, typename CallbackT>
 typename rclcpp::subscription::Subscription<MessageT>::SharedPtr
 Node::create_subscription(
+  CallbackT callback,
   const std::string & topic_name,
   size_t qos_history_depth,
-  CallbackT callback,
   rclcpp::callback_group::CallbackGroup::SharedPtr group,
   bool ignore_local_publications,
   typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT>::SharedPtr
@@ -320,9 +320,9 @@ Node::create_subscription(
   rmw_qos_profile_t qos = rmw_qos_profile_default;
   qos.depth = qos_history_depth;
   return this->create_subscription<MessageT, CallbackT>(
+    callback,
     topic_name,
     qos,
-    callback,
     group,
     ignore_local_publications,
     msg_mem_strat);

diff --git a/rclcpp/include/rclcpp/parameter_client.hpp b/rclcpp/include/rclcpp/parameter_client.hpp
@@ -232,7 +232,7 @@ class AsyncParametersClient
   on_parameter_event(FunctorT callback)
   {
     return node_->create_subscription<rcl_interfaces::msg::ParameterEvent>(
-      "parameter_events", rmw_qos_profile_parameter_events, callback);
+      callback, "parameter_events", rmw_qos_profile_parameter_events);
   }
 
 private: