niklas/rclcpp
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Added support for QoS profiles

Browse source
This commit is contained in:
Esteve Fernandez 2015-06-25 16:29:10 -07:00
parent 3f2df48fef
commit 90f71aa28e
3 changed files with 14 additions and 14 deletions
Download patch file Download diff file Expand all files Collapse all files

5
rclcpp/include/rclcpp/node.hpp
View file

@ -118,7 +118,8 @@ public:
/* Create and return a Publisher. */ /* Create and return a Publisher. */
template<typename MessageT> template<typename MessageT>
rclcpp::publisher::Publisher::SharedPtr rclcpp::publisher::Publisher::SharedPtr
create_publisher(const std::string & topic_name, size_t queue_size); create_publisher(
const std::string & topic_name, const rmw_qos_profile_t & qos_profile);
/* Create and return a Subscription. */ /* Create and return a Subscription. */
@ -130,7 +131,7 @@ public:
typename rclcpp::subscription::Subscription<MessageT>::SharedPtr typename rclcpp::subscription::Subscription<MessageT>::SharedPtr
create_subscription( create_subscription(
const std::string & topic_name, const std::string & topic_name,
size_t queue_size, const rmw_qos_profile_t & qos_profile,
std::function<void(const std::shared_ptr<MessageT> &)> callback, std::function<void(const std::shared_ptr<MessageT> &)> callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr, rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
bool ignore_local_publications = false, bool ignore_local_publications = false,

18
rclcpp/include/rclcpp/node_impl.hpp
View file

@ -76,11 +76,10 @@ Node::Node(const std::string & node_name, context::Context::SharedPtr context)
}); });
using rclcpp::callback_group::CallbackGroupType; using rclcpp::callback_group::CallbackGroupType;
default_callback_group_ = default_callback_group_ = create_callback_group(
create_callback_group(CallbackGroupType::MutuallyExclusive); CallbackGroupType::MutuallyExclusive);
// TODO(esteve): remove hardcoded values events_publisher_ = create_publisher<rcl_interfaces::msg::ParameterEvent>(
events_publisher_ = "parameter_events", rmw_qos_profile_parameter_events);
create_publisher<rcl_interfaces::msg::ParameterEvent>("parameter_events", 1000);
} }
rclcpp::callback_group::CallbackGroup::SharedPtr rclcpp::callback_group::CallbackGroup::SharedPtr
@ -96,12 +95,13 @@ Node::create_callback_group(
template<typename MessageT> template<typename MessageT>
publisher::Publisher::SharedPtr publisher::Publisher::SharedPtr
Node::create_publisher(const std::string & topic_name, size_t queue_size) Node::create_publisher(
const std::string & topic_name, const rmw_qos_profile_t & qos_profile)
{ {
using rosidl_generator_cpp::get_message_type_support_handle; using rosidl_generator_cpp::get_message_type_support_handle;
auto type_support_handle = get_message_type_support_handle<MessageT>(); auto type_support_handle = get_message_type_support_handle<MessageT>();
rmw_publisher_t * publisher_handle = rmw_create_publisher( rmw_publisher_t * publisher_handle = rmw_create_publisher(
node_handle_.get(), type_support_handle, topic_name.c_str(), queue_size); node_handle_.get(), type_support_handle, topic_name.c_str(), qos_profile);
if (!publisher_handle) { if (!publisher_handle) {
// *INDENT-OFF* (prevent uncrustify from making unecessary indents here) // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
throw std::runtime_error( throw std::runtime_error(
@ -130,7 +130,7 @@ template<typename MessageT>
typename subscription::Subscription<MessageT>::SharedPtr typename subscription::Subscription<MessageT>::SharedPtr
Node::create_subscription( Node::create_subscription(
const std::string & topic_name, const std::string & topic_name,
size_t queue_size, const rmw_qos_profile_t & qos_profile,
std::function<void(const std::shared_ptr<MessageT> &)> callback, std::function<void(const std::shared_ptr<MessageT> &)> callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group, rclcpp::callback_group::CallbackGroup::SharedPtr group,
bool ignore_local_publications, bool ignore_local_publications,
@ -146,7 +146,7 @@ Node::create_subscription(
auto type_support_handle = get_message_type_support_handle<MessageT>(); auto type_support_handle = get_message_type_support_handle<MessageT>();
rmw_subscription_t * subscriber_handle = rmw_create_subscription( rmw_subscription_t * subscriber_handle = rmw_create_subscription(
node_handle_.get(), type_support_handle, node_handle_.get(), type_support_handle,
topic_name.c_str(), queue_size, ignore_local_publications); topic_name.c_str(), qos_profile, ignore_local_publications);
if (!subscriber_handle) { if (!subscriber_handle) {
// *INDENT-OFF* (prevent uncrustify from making unecessary indents here) // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
throw std::runtime_error( throw std::runtime_error(

5
rclcpp/include/rclcpp/parameter_client.hpp
View file

@ -231,9 +231,8 @@ public:
typename rclcpp::subscription::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr typename rclcpp::subscription::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
on_parameter_event(FunctorT & callback) on_parameter_event(FunctorT & callback)
{ {
// TODO(esteve): remove hardcoded values return node_->create_subscription<rcl_interfaces::msg::ParameterEvent>(
return node_->create_subscription<rcl_interfaces::msg::ParameterEvent>("parameter_events", "parameter_events", rmw_qos_profile_parameter_events, callback);
1000, callback);
} }
private: private: