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Expose qos setting for /rosout #253

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Expose qos setting for /rosout #253

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14 changes: 14 additions & 0 deletions rmw/include/rmw/qos_profiles.h
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,20 @@ static const rmw_qos_profile_t rmw_qos_profile_default =
false
};

static const rmw_qos_profile_t rmw_rosout_qos_profile_default =
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Suggested change
static const rmw_qos_profile_t rmw_rosout_qos_profile_default =
static const rmw_qos_profile_t rmw_qos_profile_rosout_default =

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Is this expected to be used for ros2cli profile such as ros2 topic echo --qos-profile rosout_default /rosout?

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@Ada-King Ada-King Jul 22, 2020 •
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I don't familiar with the roscli code, but i think it can be used after expanding the code about parsing user input.
I will check it later.

{
RMW_QOS_POLICY_HISTORY_KEEP_LAST,
1000,
RMW_QOS_POLICY_RELIABILITY_RELIABLE,
RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
RMW_QOS_DEADLINE_DEFAULT,
RMW_ROSOUT_QOS_LIFESPAN_DEFAULT,
RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
false
};


static const rmw_qos_profile_t rmw_qos_profile_services_default =
{
RMW_QOS_POLICY_HISTORY_KEEP_LAST,
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3 changes: 3 additions & 0 deletions rmw/include/rmw/types.h
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Expand Up @@ -430,6 +430,9 @@ enum RMW_PUBLIC_TYPE rmw_qos_liveliness_policy_t
/// QoS Lifespan default, 0s indicate lifespan policies are not tracked or enforced
#define RMW_QOS_LIFESPAN_DEFAULT {0, 0}

/// Rosout QoS Lifespan default, 10s indicate lifespan policies are tracked
#define RMW_ROSOUT_QOS_LIFESPAN_DEFAULT {10, 0}
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I am not so convinced that we introduce specific default value only for rosout. instead of this, could we just specify {10, 0}?

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Yes, i think it make more sense, i will modity it.


/// QoS Liveliness lease duration default, 0s indicate lease durations are not tracked or enforced
#define RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT {0, 0}

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