Expose Subscription Options - V2

include/message_filters/subscriber.h

@@ -35,6 +35,8 @@
 #ifndef MESSAGE_FILTERS__SUBSCRIBER_H_
 #define MESSAGE_FILTERS__SUBSCRIBER_H_
 
+#include <stdexcept>
+
 #include <rclcpp/rclcpp.hpp>
 
 #include "message_filters/connection.h"
@@ -68,6 +70,49 @@ class SubscriberBase
    * \param qos (optional) The rmw qos profile to use to subscribe
    */
   virtual void subscribe(rclcpp::Node * node, const std::string& topic, const rmw_qos_profile_t qos = rmw_qos_profile_default) = 0;
+
+  /**
+   * \brief Subscribe to a topic.
+   *
+   * If this Subscriber is already subscribed to a topic, this function will first unsubscribe.
+   * This override allows SubscriptionOptions to be passed into the class without changing API.
+   *
+   * \param node The rclcpp::Node::SharedPtr to use to subscribe.
+   * \param topic The topic to subscribe to.
+   * \param qos (optional) The rmw qos profile to use to subscribe.
+   * \param options The subscription options to use to subscribe.
+   */
+  virtual void subscribe(
+    rclcpp::Node::SharedPtr node,
+    const std::string& topic,
+    const rmw_qos_profile_t qos,
+    rclcpp::SubscriptionOptions options)
+  {
+    this->subscribe(node.get(), topic, qos, options);
+  };
+
+  /**
+   * \brief Subscribe to a topic.
+   *
+   * If this Subscriber is already subscribed to a topic, this function will first unsubscribe.
+   *
+   * \param node The rclcpp::Node to use to subscribe.
+   * \param topic The topic to subscribe to.
+   * \param qos (optional) The rmw qos profile to use to subscribe
+   */
+  virtual void subscribe(
+    rclcpp::Node * node,
+    const std::string& topic,
+    const rmw_qos_profile_t qos,
+    rclcpp::SubscriptionOptions options)
+  {
+    (void) options;
+    RCLCPP_ERROR(
+      node->get_logger(),
+      "SubscriberBase::subscribe with four arguments has not been overridden");
+    this->subscribe(node, topic, qos);
+  }
+
   /**
    * \brief Re-subscribe to a topic.  Only works if this subscriber has previously been subscribed to a topic.
    */
@@ -123,6 +168,34 @@ class Subscriber : public SubscriberBase, public SimpleFilter<M>
     subscribe(node, topic, qos);
   }
 
+  /**
+   * \brief Constructor
+   *
+   * See the rclcpp::Node::subscribe() variants for more information on the parameters
+   *
+   * \param node The rclcpp::Node::SharedPtr to use to subscribe.
+   * \param topic The topic to subscribe to.
+   * \param qos The rmw qos profile to use to subscribe.
+   * \param options The subscription options to use to subscribe.
+   */
+  Subscriber(
+    rclcpp::Node::SharedPtr node,
+    const std::string& topic,
+    const rmw_qos_profile_t qos,
+    rclcpp::SubscriptionOptions options)
+  {
+    subscribe(node, topic, qos, options);
+  }
+
+  Subscriber(
+    rclcpp::Node* node,
+    const std::string& topic,
+    const rmw_qos_profile_t qos,
+    rclcpp::SubscriptionOptions options)
+  {
+    subscribe(node, topic, qos, options);
+  }
+
   /**
    * \brief Empty constructor, use subscribe() to subscribe to a topic
    */
@@ -144,9 +217,7 @@ class Subscriber : public SubscriberBase, public SimpleFilter<M>
    */
   void subscribe(rclcpp::Node::SharedPtr node, const std::string& topic, const rmw_qos_profile_t qos = rmw_qos_profile_default)
   {
-    subscribe(node.get(), topic, qos);
-    node_raw_ = nullptr;
-    node_shared_ = node;
+    subscribe(node, topic, qos, rclcpp::SubscriptionOptions());
   }
 
   /**
@@ -160,6 +231,47 @@ class Subscriber : public SubscriberBase, public SimpleFilter<M>
    */
   // TODO(wjwwood): deprecate in favor of API's that use `rclcpp::QoS` instead.
   void subscribe(rclcpp::Node * node, const std::string& topic, const rmw_qos_profile_t qos = rmw_qos_profile_default)
+  {
+    subscribe(node, topic, qos, rclcpp::SubscriptionOptions());
+  }
+
+  /**
+   * \brief Subscribe to a topic.
+   *
+   * If this Subscriber is already subscribed to a topic, this function will first unsubscribe.
+   *
+   * \param node The rclcpp::Node::SharedPtr to use to subscribe.
+   * \param topic The topic to subscribe to.
+   * \param qos The rmw qos profile to use to subscribe.
+   * \param options The subscription options to use to subscribe.
+   */
+  void subscribe(
+    rclcpp::Node::SharedPtr node,
+    const std::string& topic,
+    const rmw_qos_profile_t qos,
+    rclcpp::SubscriptionOptions options)
+  {
+    subscribe(node.get(), topic, qos, options);
+    node_raw_ = nullptr;
+    node_shared_ = node;
+  }
+
+  /**
+   * \brief Subscribe to a topic.
+   *
+   * If this Subscriber is already subscribed to a topic, this function will first unsubscribe.
+   *
+   * \param node The rclcpp::Node to use to subscribe.
+   * \param topic The topic to subscribe to.
+   * \param qos The rmw qos profile to use to subscribe
+   * \param options The subscription options to use to subscribe.
+   */
+  // TODO(wjwwood): deprecate in favor of API's that use `rclcpp::QoS` instead.
+  void subscribe(
+    rclcpp::Node * node,
+    const std::string& topic,
+    const rmw_qos_profile_t qos,
+    rclcpp::SubscriptionOptions options)
   {
     unsubscribe();
 
@@ -169,10 +281,11 @@ class Subscriber : public SubscriberBase, public SimpleFilter<M>
       rclcpp::QoS rclcpp_qos(rclcpp::QoSInitialization::from_rmw(qos));
       rclcpp_qos.get_rmw_qos_profile() = qos;
       qos_ = qos;
+      options_ = options;
       sub_ = node->create_subscription<M>(topic, rclcpp_qos,
                [this](std::shared_ptr<M const> msg) {
                  this->cb(EventType(msg));
-               });
+               }, options);
 
       node_raw_ = node;
     }
@@ -186,9 +299,9 @@ class Subscriber : public SubscriberBase, public SimpleFilter<M>
     if (!topic_.empty())
     {
       if (node_raw_ != nullptr) {
-        subscribe(node_raw_, topic_, qos_);
+        subscribe(node_raw_, topic_, qos_, options_);
       } else if (node_shared_ != nullptr) {
-        subscribe(node_shared_, topic_, qos_);
+        subscribe(node_shared_, topic_, qos_, options_);
       }
     }
   }
@@ -242,6 +355,7 @@ class Subscriber : public SubscriberBase, public SimpleFilter<M>
 
   std::string topic_;
   rmw_qos_profile_t qos_;
+  rclcpp::SubscriptionOptions options_;
 };
 
 }  // namespace message_filters