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Add function to get publisher actual qos settings (#667)

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* Added get_actual_qos method to publisher.

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
This commit is contained in:
ivanpauno 2019-04-01 17:55:08 -03:00 • committed by GitHub
parent 4f2f8def98
commit 1f2904f980
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GPG key ID: 4AEE18F83AFDEB23
2 changed files with 27 additions and 1 deletions
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14
rclcpp/include/rclcpp/publisher.hpp
View file

@ -128,6 +128,20 @@ public:
size_t size_t
get_intra_process_subscription_count() const; get_intra_process_subscription_count() const;
/// Get the actual QoS settings, after the defaults have been determined.
/**
* The actual configuration applied when using RMW_QOS_POLICY_*_SYSTEM_DEFAULT
* can only be resolved after the creation of the publisher, and it
* depends on the underlying rmw implementation.
* If the underlying setting in use can't be represented in ROS terms,
* it will be set to RMW_QOS_POLICY_*_UNKNOWN.
* May throw runtime_error when an unexpected error occurs.
* \return The actual qos settings.
*/
RCLCPP_PUBLIC
rmw_qos_profile_t
get_actual_qos() const;
/// Compare this publisher to a gid. /// Compare this publisher to a gid.
/** /**
* Note that this function calls the next function. * Note that this function calls the next function.

14
rclcpp/src/rclcpp/publisher.cpp
View file

@ -159,7 +159,7 @@ PublisherBase::get_subscription_count() const
{ {
size_t inter_process_subscription_count = 0; size_t inter_process_subscription_count = 0;
rmw_ret_t status = rcl_publisher_get_subscription_count( rcl_ret_t status = rcl_publisher_get_subscription_count(
&publisher_handle_, &publisher_handle_,
&inter_process_subscription_count); &inter_process_subscription_count);
@ -197,6 +197,18 @@ PublisherBase::get_intra_process_subscription_count() const
return ipm->get_subscription_count(intra_process_publisher_id_); return ipm->get_subscription_count(intra_process_publisher_id_);
} }
rmw_qos_profile_t
PublisherBase::get_actual_qos() const
{
const rmw_qos_profile_t * qos = rcl_publisher_get_actual_qos(&publisher_handle_);
if (!qos) {
auto msg = std::string("failed to get qos settings: ") + rcl_get_error_string().str;
rcl_reset_error();
throw std::runtime_error(msg);
}
return *qos;
}
bool bool
PublisherBase::operator==(const rmw_gid_t & gid) const PublisherBase::operator==(const rmw_gid_t & gid) const
{ {