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feat: set qos options to override durability #250

Merged
merged 2 commits into from
May 20, 2022
Merged

feat: set qos options to override durability #250

merged 2 commits into from
May 20, 2022

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wep21
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@wep21 wep21 commented May 16, 2022

🎉 New feature

Closes #

Summary

The default qos options don't contain durability policy, so we can't override durability via ros parameter.
This PR sets additional qos policy into qos options to override durability policy.

Test it

ros2 param dump shows durability under qos_overrides.

❯ ros2 param dump /bridge
/bridge:
  ros__parameters:
    qos_overrides:
      /clock:
        publisher:
          depth: 10
          durability: volatile
          history: keep_last
          reliability: reliable

Checklist

  • Signed all commits for DCO
  • Added tests
  • Added example and/or tutorial
  • Updated documentation (as needed)
  • Updated migration guide (as needed)
  • Consider updating Python bindings (if the library has them)
  • codecheck passed (See contributing)
  • All tests passed (See test coverage)
  • While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

feat: set qos options to override durability
40ee7da 
Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
@wep21 wep21 requested a review from chapulina as a code owner May 16, 2022 14:15
@osrf-triage osrf-triage added this to Inbox in Core development May 16, 2022
@chapulina chapulina moved this from Inbox to In review in Core development May 16, 2022
@chapulina chapulina added the ROS 2 ROS 2 label May 16, 2022
chapulina
chapulina approved these changes May 20, 2022
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Thanks!

@chapulina
Merge branch 'ros2' into feature/qos_override_durability
1ad222f 
Signed-off-by: Louise Poubel <louise@openrobotics.org>
@chapulina chapulina merged commit 19b1534 into gazebosim:ros2 May 20, 2022
Core development automation moved this from In review to Done May 20, 2022
chapulina added a commit that referenced this pull request Jun 21, 2022
@wep21 @chapulina
Feature: set QoS options to override durability (#250)
516834d 
Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>

Co-authored-by: Louise Poubel <louise@openrobotics.org>
@chapulina chapulina mentioned this pull request Jun 21, 2022
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chapulina added a commit that referenced this pull request Jun 21, 2022
@chapulina @wep21
Feature: set QoS options to override durability (#250) (#259)
f0e9a25 
Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>

Co-authored-by: Louise Poubel <louise@openrobotics.org>

Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
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