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Add environment variable to control override of DomainParticipantQos #41
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Signed-off-by: Andrea Sorbini <asorbini@rti.com>
This PR is for post-Galactic of course, but I think it would make sense to consider it for a patch release. |
Signed-off-by: Andrea Sorbini <asorbini@rti.com>
Signed-off-by: Andrea Sorbini <asorbini@rti.com>
There's a
SGTM |
Signed-off-by: Andrea Sorbini <asorbini@rti.com>
Merging since all failures are unrelated. Only unexpected one is |
…41) * Add environment variable to control override of DomainParticipantQos * Add entry for RMW_CONNEXT_PARTICIPANT_QOS_OVERRIDE_POLICY to README * Add note about relation to RMW_CONNEXT_DISABLE_FAST_ENDPOINT_DISCOVERY * Remove accidentally committed debug statement Signed-off-by: Andrea Sorbini <asorbini@rti.com>
…41) * Add environment variable to control override of DomainParticipantQos * Add entry for RMW_CONNEXT_PARTICIPANT_QOS_OVERRIDE_POLICY to README * Add note about relation to RMW_CONNEXT_DISABLE_FAST_ENDPOINT_DISCOVERY * Remove accidentally committed debug statement Signed-off-by: Andrea Sorbini <asorbini@rti.com>
…41) * Add environment variable to control override of DomainParticipantQos * Add entry for RMW_CONNEXT_PARTICIPANT_QOS_OVERRIDE_POLICY to README * Add note about relation to RMW_CONNEXT_DISABLE_FAST_ENDPOINT_DISCOVERY * Remove accidentally committed debug statement Signed-off-by: Andrea Sorbini <asorbini@rti.com>
…41) * Add environment variable to control override of DomainParticipantQos * Add entry for RMW_CONNEXT_PARTICIPANT_QOS_OVERRIDE_POLICY to README * Add note about relation to RMW_CONNEXT_DISABLE_FAST_ENDPOINT_DISCOVERY * Remove accidentally committed debug statement Signed-off-by: Andrea Sorbini <asorbini@rti.com>
* Add environment variable to control override of DomainParticipantQos * Add entry for RMW_CONNEXT_PARTICIPANT_QOS_OVERRIDE_POLICY to README * Add note about relation to RMW_CONNEXT_DISABLE_FAST_ENDPOINT_DISCOVERY * Remove accidentally committed debug statement Signed-off-by: Andrea Sorbini <asorbini@rti.com>
* Add environment variable to control override of DomainParticipantQos * Add entry for RMW_CONNEXT_PARTICIPANT_QOS_OVERRIDE_POLICY to README * Add note about relation to RMW_CONNEXT_DISABLE_FAST_ENDPOINT_DISCOVERY * Remove accidentally committed debug statement * Resolve compilation errors with eloquent Signed-off-by: Andrea Sorbini <asorbini@rti.com>
* Add environment variable to control override of DomainParticipantQos * Add entry for RMW_CONNEXT_PARTICIPANT_QOS_OVERRIDE_POLICY to README * Add note about relation to RMW_CONNEXT_DISABLE_FAST_ENDPOINT_DISCOVERY * Remove accidentally committed debug statement * Resolve compilation errors with dashing Signed-off-by: Andrea Sorbini <asorbini@rti.com>
This PR is similar to #7 but focuses on the DomainParticipant's QoS.
At the moment,
rmw_connextdds
loads the default DomainParticipantQos from the DomainParticipantFactory, and it applies some "hard-coded" optimizations:While it is already possible to disable some of this optimizations specifically (e.g. using variable
RMW_CONNEXT_DISABLE_FAST_ENDPOINT_DISCOVERY
), there is no way for a user to completely disable them altogether, making it impossible to customize these parameters in XML.This PR introduces a new variable,
RMW_CONNEXT_PARTICIPANT_QOS_OVERRIDE_POLICY
, to control how the RMW will override the default DomainParticipantQos obtained from the DomainParticipantFactory. The variable supports the following values:all
(default if unspecified): apply all customizations.basic
: only apply those changes derived from ROS 2 options.never
: do not modify the default value at all.I have also consolidated the code to lookup variables
RMW_CONNEXT_ENDPOINT_QOS_OVERRIDE_POLICY
andRMW_CONNEXT_INITIAL_PEERS
tormw_api_connextdds_init()
next to all other environment variables.