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Intra-process subscriber should use RMW actual qos. (ros2#913) (#914)

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* Intra-process subscriber should use RMW actual qos. (ros2#913)

Signed-off-by: Todd Malsbary <todd.malsbary@intel.com>
This commit is contained in:
Todd Malsbary 2019-11-25 04:42:09 -08:00 • committed by Ivan Santiago Paunovic
parent 88a342db29
commit 59e7bbbe7c
2 changed files with 5 additions and 8 deletions
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9
rclcpp/include/rclcpp/subscription.hpp
View file

@ -124,15 +124,16 @@ public:
using rclcpp::detail::resolve_intra_process_buffer_type;
// Check if the QoS is compatible with intra-process.
if (qos.get_rmw_qos_profile().history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
rmw_qos_profile_t qos_profile = get_actual_qos().get_rmw_qos_profile();
if (qos_profile.history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
throw std::invalid_argument(
"intraprocess communication is not allowed with keep all history qos policy");
}
if (qos.get_rmw_qos_profile().depth == 0) {
if (qos_profile.depth == 0) {
throw std::invalid_argument(
"intraprocess communication is not allowed with 0 depth qos policy");
}
if (qos.get_rmw_qos_profile().durability != RMW_QOS_POLICY_DURABILITY_VOLATILE) {
if (qos_profile.durability != RMW_QOS_POLICY_DURABILITY_VOLATILE) {
throw std::invalid_argument(
"intraprocess communication allowed only with volatile durability");
}
@ -149,7 +150,7 @@ public:
options.get_allocator(),
context,
this->get_topic_name(), // important to get like this, as it has the fully-qualified name
qos.get_rmw_qos_profile(),
qos_profile,
resolve_intra_process_buffer_type(options.intra_process_buffer_type, callback)
);
TRACEPOINT(

4
rclcpp/test/test_subscription.cpp
View file

@ -287,10 +287,6 @@ static std::vector<TestParameters> invalid_qos_profiles()
TestParameters(
rclcpp::QoS(rclcpp::KeepAll()),
"keep_all_qos"));
parameters.push_back(
TestParameters(
rclcpp::QoS(rclcpp::KeepLast(0)),
"keep_last_zero_depth_qos"));
return parameters;
}