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rclpy QoS Demos (Liveliness, Lifespan, Deadline) #338

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merged 9 commits into from
May 21, 2019
Merged

rclpy QoS Demos (Liveliness, Lifespan, Deadline) #338

merged 9 commits into from
May 21, 2019

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emersonknapp
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@emersonknapp emersonknapp commented May 17, 2019 •
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Add demos for QoS policies in rclpy, for parity with the C++ quality_of_service_demo

  • Moves both c++ and Python demos under the same directory
  • Renames C++ demos to quality_of_service_demo_cpp

Emerson Knapp added 4 commits May 17, 2019 13:19
Initial commit for quality_of_service_demo_py - working deadline demo
6e2d51f 
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
cleanup deadline printing
3d4dd26 
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
Working liveliness demo (on connext)
40d18fd 
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
Lifespan demo is revealing that rclpy doesn't seem to get back-fill h…
26c5c1a 
…istory messages when a subscriber comes online, lifespan setting or no

Signed-off-by: Emerson Knapp <eknapp@amazon.com>
mjcarroll
mjcarroll reviewed May 17, 2019
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quality_of_service_demo_py/quality_of_service_demo_py/liveliness.py Outdated
from rclpy.qos_event import PublisherEventCallbacks
from rclpy.qos_event import SubscriptionEventCallbacks

POLICY_MAP = {
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I recently did something similar for reliability/durability in ros2topic: https://github.com/ros2/ros2cli/blob/a2d73c07f0245744e3d8e08d153752058470c9b4/ros2topic/ros2topic/api/__init__.py#L143

Would it make sense to centralize these in rclpy?

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It makes sense to me to centralize it. I can take a crack at that today.

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Note: I have created
ros2/rclpy#352
ros2/ros2cli#240
to address this, but I won't change this PR until that has been agreed on. This will work as-is for the moment.

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We can apply this change his in a follow-up PR.

Emerson Knapp added 4 commits May 17, 2019 16:53
make flake8 happier
5ce7c47 
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
Put both client demos under the same package
3f59970 
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
Install python scripts properly. README mention both client libraries…
1adeb7e 
…. Rename cpp cmake project name

Signed-off-by: Emerson Knapp <eknapp@amazon.com>
Fix up py documentation
e330ce4 
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
@emersonknapp emersonknapp marked this pull request as ready for review May 18, 2019 00:32
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emersonknapp commented May 18, 2019 •
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I have taken this out of draft, it is now ready for review - a few notes on limitations

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@dirk-thomas is this something that we want to track on the distro freeze board? https://github.com/orgs/ros2/projects/5

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is this something that we want to track on the distro freeze board?

This needs to land as soon as possible to be considered during the testing phase. The distro freeze is too late to aim for for this to land.

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@jacobperron @sloretz could either of you take a look at this PR? or suggest somebody appropriate to review it?

Add linter tests and remove lint
e8d1450 
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
jacobperron
jacobperron approved these changes May 20, 2019
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LGTM

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  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

@emersonknapp emersonknapp mentioned this pull request May 21, 2019
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macOS Build Status
Windows: Build Status

@jacobperron jacobperron merged commit 06629b3 into ros2:master May 21, 2019
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@jacobperron jacobperron jacobperron approved these changes

@dirk-thomas dirk-thomas dirk-thomas left review comments

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