Runtime selectable QoS to allow for recording sensor data with rosbag2 #26
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…ta via rosbag2 in Eloquent. Apparently, as of this writing, rosbag2 cannot record topic data whose QoS has a reliability level of anything but `RELIABLE`. See: ros2/rosbag2#125. The `rmw_qos_profile_sensor_data` (which we are using in this project *a priori*) employs `BEST_EFFORT` reliability. I've added a new parameter `use_system_default_qos_for_sensor_data` to the node and parameter file. By default this is set to `False` which maintains the original behavior of this package. However, if set to `True`, rather than `rmw_qos_profile_sensor_data` we use ``rmw_qos_profile_default` as our QoS profile for the sensor topics. This (supposedly) most closely mimics ROS (classic) behavior but more importantly, allows rosbag2 to record data from these topics. Hopefully this issue with rosbag2 gets addressed by Foxy and we can deprecate this feature. But for now, not having the ability to record data for offline analysis is very limiting and we need something like this in this driver package.
SteveMacenski
requested changes
Mar 13, 2020
SteveMacenski
approved these changes
Mar 13, 2020
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Waiting on CI and response on action item |
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Currently, rosbag2 in Eloquent cannot record data whose reliability level is anything but RELIABLE. See: ros2/rosbag2#125. In this package, all sensor data are correctly published with
rmw_qos_profile_sensor_datawhose reliability is BEST_EFFORT. However, this precludes us from being able to record bag files with rosbag2. Not good for doing offline data analysis and development work. This PR adds a new parameter calleduse_system_default_qos_for_sensor_datathat when set toTrueuses thermw_qos_profile_default. When run in this way, rosbag2 can record the sensor topics.Hopefully the issues with rosbag2 are addressed in Foxy and this patch can be reverted on (I assume) the forthcoming
foxy-develbranch.