Make use of qos overrides in some default topics

Signed-off-by: Ivan Santiago Paunovic <[email protected]>
ros2 · Oct 21, 2020 · 584e9f8 · 584e9f8
1 parent 4d6ad65
commit 584e9f8
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Showing 5 changed files with 15 additions and 3 deletions.
diff --git a/rclcpp/include/rclcpp/create_subscription.hpp b/rclcpp/include/rclcpp/create_subscription.hpp
@@ -84,12 +84,14 @@ create_subscription(
               " ms");
     }
 
+    // TODO(ivanpauno): This could have topics statistics enabled, but I'm not sure if it makes
+    // sense.
     std::shared_ptr<Publisher<statistics_msgs::msg::MetricsMessage>> publisher =
       rclcpp::detail::create_publisher<statistics_msgs::msg::MetricsMessage>(
         node_parameters,
         node_topics_interface,
         options.topic_stats_options.publish_topic,
-        qos);  // why the topics statistics publisher is using the same QoS as the subscription??
+        qos);
 
     subscription_topic_stats = std::make_shared<
       rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>

diff --git a/rclcpp/include/rclcpp/detail/qos_parameters.hpp b/rclcpp/include/rclcpp/detail/qos_parameters.hpp
@@ -154,6 +154,8 @@ declare_qos_parameters(
   return qos;
 }
 
+// TODO(ivanpauno): This overload cannot declare the QoS parameters, as a node parameters interface
+// was not provided.
 template<typename NodeT, typename EntityQosParametersTraits>
 std::enable_if_t<
   !rclcpp::node_interfaces::has_node_parameters_interface<

diff --git a/rclcpp/include/rclcpp/qos_overriding_options.hpp b/rclcpp/include/rclcpp/qos_overriding_options.hpp
@@ -91,8 +91,8 @@ struct QosOverridingOptions
    * \param policy_kinds list of policy kinds that will be reconfigurable.
    * \param id id of the entity.
    */
-
   QosOverridingOptions(std::initializer_list<QosPolicyKind> policy_kinds, std::string id = {});
+
   /// Construct passing a list of qos policies that and a verification callback.
   /**
    * This constructor is implicit, e.g.:

diff --git a/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp b/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
@@ -67,6 +67,7 @@ NodeParameters::NodeParameters(
   }
 
   if (start_parameter_event_publisher) {
+    // TODO(ivanpauno): Qos of the `/parameters_event` topic should be somehow overridable.
     events_publisher_ = rclcpp::create_publisher<MessageT, AllocatorT, PublisherT>(
       node_topics,
       "/parameter_events",

diff --git a/rclcpp/src/rclcpp/time_source.cpp b/rclcpp/src/rclcpp/time_source.cpp
@@ -27,6 +27,7 @@
 #include "rclcpp/node.hpp"
 #include "rclcpp/parameter_client.hpp"
 #include "rclcpp/parameter_events_filter.hpp"
+#include "rclcpp/subscription_options.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp/time_source.hpp"
 
@@ -233,11 +234,17 @@ void TimeSource::create_clock_sub()
     return;
   }
 
+  using rclcpp::QosPolicyKind;
+  rclcpp::SubscriptionOptions options;
+  options.qos_overriding_options = QosOverridingOptions{
+    QosPolicyKind::Depth, QosPolicyKind::History, QosPolicyKind::LivelinessLeaseDuration,
+    QosPolicyKind::Reliability};
   clock_subscription_ = rclcpp::create_subscription<rosgraph_msgs::msg::Clock>(
     node_topics_,
     "/clock",
     rclcpp::QoS(KeepLast(1)).best_effort(),
-    std::bind(&TimeSource::clock_cb, this, std::placeholders::_1)
+    std::bind(&TimeSource::clock_cb, this, std::placeholders::_1),
+    options
   );
 }