Expose qos setting for /rosout (#1247)

* Expose qos setting for /rosout

Signed-off-by: Ada-King <Bingtao.Du@sony.com>

* For re-trigger CI job

Signed-off-by: Ada-King <Bingtao.Du@sony.com>

* Modify code based on comments

Signed-off-by: Ada-King <Bingtao.Du@sony.com>

* Remove redundant parameter

Signed-off-by: Ada-King <Bingtao.Du@sony.com>

* Simplify Test

Signed-off-by: Ada-King <Bingtao.Du@sony.com>

* Modify Test as suggested

Signed-off-by: Ada-King <Bingtao.Du@sony.com>

rclcpp/include/rclcpp/node_options.hpp

@@ -256,6 +256,19 @@ class NodeOptions
   NodeOptions &
   parameter_event_qos(const rclcpp::QoS & parameter_event_qos);
 
+  /// Return a reference to the rosout_qos QoS.
+  RCLCPP_PUBLIC
+  const rclcpp::QoS &
+  rosout_qos() const;
+
+  /// Set the rosout_qos QoS.
+  /**
+   * The QoS settings to be used for the publisher on /rosout topic, if enabled.
+   */
+  RCLCPP_PUBLIC
+  NodeOptions &
+  rosout_qos(const rclcpp::QoS & rosout_qos);
+
   /// Return a reference to the parameter_event_publisher_options.
   RCLCPP_PUBLIC
   const rclcpp::PublisherOptionsBase &
@@ -358,6 +371,8 @@ class NodeOptions
     rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events)
   );
 
+  rclcpp::QoS rosout_qos_ = rclcpp::RosoutQoS();
+
   rclcpp::PublisherOptionsBase parameter_event_publisher_options_ = rclcpp::PublisherOptionsBase();
 
   bool allow_undeclared_parameters_ {false};

rclcpp/include/rclcpp/qos.hpp

@@ -19,6 +19,7 @@
 
 #include "rclcpp/duration.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rcl/logging_rosout.h"
 #include "rmw/incompatible_qos_events_statuses.h"
 #include "rmw/qos_profiles.h"
 #include "rmw/types.h"
@@ -249,6 +250,28 @@ class RCLCPP_PUBLIC ParameterEventsQoS : public QoS
   ));
 };
 
+/**
+ * Rosout QoS class
+ *    - History: Keep last,
+ *    - Depth: 1000,
+ *    - Reliability: Reliable,
+ *    - Durability: TRANSIENT_LOCAL,
+ *    - Deadline: Default,
+ *    - Lifespan: {10, 0},
+ *    - Liveliness: System default,
+ *    - Liveliness lease duration: default,
+ *    - Avoid ros namespace conventions: false
+ */
+class RCLCPP_PUBLIC RosoutQoS : public QoS
+{
+public:
+  explicit
+  RosoutQoS(
+    const QoSInitialization & rosout_qos_initialization = (
+      QoSInitialization::from_rmw(rcl_qos_profile_rosout_default)
+  ));
+};
+
 /**
  * System defaults QoS class
  *    - History: System default,

rclcpp/src/rclcpp/node_options.cpp

@@ -75,6 +75,7 @@ NodeOptions::operator=(const NodeOptions & other)
     this->use_intra_process_comms_ = other.use_intra_process_comms_;
     this->enable_topic_statistics_ = other.enable_topic_statistics_;
     this->start_parameter_services_ = other.start_parameter_services_;
+    this->rosout_qos_ = other.rosout_qos_;
     this->allocator_ = other.allocator_;
     this->allow_undeclared_parameters_ = other.allow_undeclared_parameters_;
     this->automatically_declare_parameters_from_overrides_ =
@@ -94,6 +95,7 @@ NodeOptions::get_rcl_node_options() const
     node_options_->allocator = this->allocator_;
     node_options_->use_global_arguments = this->use_global_arguments_;
     node_options_->enable_rosout = this->enable_rosout_;
+    node_options_->rosout_qos = this->rosout_qos_.get_rmw_qos_profile();
 
     int c_argc = 0;
     std::unique_ptr<const char *[]> c_argv;
@@ -266,6 +268,20 @@ NodeOptions::parameter_event_qos(const rclcpp::QoS & parameter_event_qos)
   return *this;
 }
 
+const rclcpp::QoS &
+NodeOptions::rosout_qos() const
+{
+  return this->rosout_qos_;
+}
+
+NodeOptions &
+NodeOptions::rosout_qos(const rclcpp::QoS & rosout_qos)
+{
+  this->node_options_.reset();
+  this->rosout_qos_ = rosout_qos;
+  return *this;
+}
+
 const rclcpp::PublisherOptionsBase &
 NodeOptions::parameter_event_publisher_options() const
 {

rclcpp/src/rclcpp/qos.cpp

@@ -251,6 +251,10 @@ ParameterEventsQoS::ParameterEventsQoS(const QoSInitialization & qos_initializat
 : QoS(qos_initialization, rmw_qos_profile_parameter_events)
 {}
 
+RosoutQoS::RosoutQoS(const QoSInitialization & rosout_initialization)
+: QoS(rosout_initialization, rcl_qos_profile_rosout_default)
+{}
+
 SystemDefaultsQoS::SystemDefaultsQoS(const QoSInitialization & qos_initialization)
 : QoS(qos_initialization, rmw_qos_profile_system_default)
 {}

rclcpp/test/CMakeLists.txt

@@ -627,6 +627,12 @@ if(TARGET test_rclcpp_gtest_macros)
   target_link_libraries(test_rclcpp_gtest_macros ${PROJECT_NAME})
 endif()
 
+ament_add_gtest(test_rosout_qos rclcpp/test_rosout_qos.cpp)
+if(TARGET test_rosout_qos)
+  ament_target_dependencies(test_rosout_qos "rcl")
+  target_link_libraries(test_rosout_qos ${PROJECT_NAME})
+endif()
+
 # Install test resources
 install(
   DIRECTORY resources

rclcpp/test/rclcpp/test_rosout_qos.cpp

@@ -0,0 +1,79 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+#include <memory>
+
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/duration.hpp"
+#include "rcl/logging_rosout.h"
+#include "rcl/init.h"
+#include "rmw/types.h"
+
+bool operator==(
+  const rmw_time_t & lhs,
+  const rmw_time_t & rhs)
+{
+  return lhs.sec == rhs.sec && lhs.nsec == rhs.nsec;
+}
+
+bool operator==(
+  const rmw_qos_profile_t & lhs,
+  const rmw_qos_profile_t & rhs)
+{
+  return lhs.history == rhs.history &&
+         lhs.depth == rhs.depth &&
+         lhs.reliability == rhs.reliability &&
+         lhs.durability == rhs.durability &&
+         lhs.deadline == rhs.deadline &&
+         lhs.lifespan == rhs.lifespan &&
+         lhs.liveliness == rhs.liveliness &&
+         lhs.liveliness_lease_duration == rhs.liveliness_lease_duration &&
+         lhs.avoid_ros_namespace_conventions == rhs.avoid_ros_namespace_conventions;
+}
+
+bool operator!=(
+  const rmw_qos_profile_t & lhs,
+  const rmw_qos_profile_t & rhs)
+{
+  return !(lhs == rhs);
+}
+
+/*
+   Test rosout_qos function with default value.
+ */
+TEST(TestRosoutQoS, test_rosout_qos_with_default_value) {
+  rclcpp::NodeOptions node_options;
+  rclcpp::QoS rosout_qos_profile = node_options.rosout_qos();
+  rmw_qos_profile_t rmw_qos_profile = rosout_qos_profile.get_rmw_qos_profile();
+  EXPECT_EQ(rcl_qos_profile_rosout_default, rmw_qos_profile);
+  EXPECT_EQ(rcl_qos_profile_rosout_default, node_options.get_rcl_node_options()->rosout_qos);
+}
+
+/*
+   Test `rosout_qos` function with custom value.
+ */
+TEST(TestRosoutQoS, test_rosout_qos_with_custom_value) {
+  rmw_time_t life_span;
+  life_span.sec = 10;
+  life_span.nsec = 0;
+  auto qos_profile = rclcpp::QoS(rclcpp::KeepLast(1000)).transient_local().lifespan(life_span);
+  auto options = rclcpp::NodeOptions().rosout_qos(qos_profile);
+  rclcpp::QoS rosout_qos = options.rosout_qos();
+  rmw_qos_profile_t rmw_qos_profile = rosout_qos.get_rmw_qos_profile();
+
+  EXPECT_EQ(rmw_qos_profile, qos_profile.get_rmw_qos_profile());
+  EXPECT_EQ(rmw_qos_profile, options.get_rcl_node_options()->rosout_qos);
+}