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Be explicit about reliability in Lifespan demos #350

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May 23, 2019
Merged

Be explicit about reliability in Lifespan demos #350

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3 changes: 3 additions & 0 deletions quality_of_service_demo/rclcpp/src/lifespan.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -101,6 +101,9 @@ int main(int argc, char * argv[])

rclcpp::QoS qos_profile(history);
qos_profile
// Guaranteed delivery is needed to send messages to late-joining subscriptions.
.reliable()
// Store messages on the publisher so that they can be affected by Lifespan.
.transient_local()
.lifespan(lifespan_duration);

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6 changes: 5 additions & 1 deletion quality_of_service_demo/rclpy/quality_of_service_demo_py/lifespan.py
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Expand Up @@ -21,6 +21,7 @@
from rclpy.executors import SingleThreadedExecutor
from rclpy.qos import QoSDurabilityPolicy
from rclpy.qos import QoSProfile
from rclpy.qos import QoSReliabilityPolicy


def parse_args():
Expand Down Expand Up @@ -51,7 +52,10 @@ def main(args=None):

qos_profile = QoSProfile(
depth=parsed_args.history,
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Unrelated to this PR: I would recommend making arguments match the QoS setting for clarity. Briefly, this looked like a bug, assigning a history setting to a depth setting.

durability=QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
# Guaranteed delivery is needed to send messages to late-joining subscription.
reliability=QoSReliabilityPolicy.RELIABLE,
# Store messages on the publisher so that they can be affected by Lifespan.
durability=QoSDurabilityPolicy.TRANSIENT_LOCAL,
lifespan=lifespan)

listener = Listener(
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