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Added support for QoS profiles

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

@ -118,7 +118,8 @@ public:
/* Create and return a Publisher. */
template<typename MessageT>
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. */
@ -130,7 +131,7 @@ public:
typename rclcpp::subscription::Subscription<MessageT>::SharedPtr
create_subscription(
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,
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
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;
default_callback_group_ =
create_callback_group(CallbackGroupType::MutuallyExclusive);
// TODO(esteve): remove hardcoded values
events_publisher_ =
create_publisher<rcl_interfaces::msg::ParameterEvent>("parameter_events", 1000);
default_callback_group_ = create_callback_group(
CallbackGroupType::MutuallyExclusive);
events_publisher_ = create_publisher<rcl_interfaces::msg::ParameterEvent>(
"parameter_events", rmw_qos_profile_parameter_events);
}
rclcpp::callback_group::CallbackGroup::SharedPtr
@ -96,12 +95,13 @@ Node::create_callback_group(
template<typename MessageT>
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;
auto type_support_handle = get_message_type_support_handle<MessageT>();
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) {
// *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
throw std::runtime_error(
@ -130,7 +130,7 @@ template<typename MessageT>
typename subscription::Subscription<MessageT>::SharedPtr
Node::create_subscription(
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,
rclcpp::callback_group::CallbackGroup::SharedPtr group,
bool ignore_local_publications,
@ -146,7 +146,7 @@ Node::create_subscription(
auto type_support_handle = get_message_type_support_handle<MessageT>();
rmw_subscription_t * subscriber_handle = rmw_create_subscription(
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) {
// *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
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
on_parameter_event(FunctorT & callback)
{
// TODO(esteve): remove hardcoded values
return node_->create_subscription<rcl_interfaces::msg::ParameterEvent>("parameter_events",
1000, callback);
return node_->create_subscription<rcl_interfaces::msg::ParameterEvent>(
"parameter_events", rmw_qos_profile_parameter_events, callback);
}
private: