Make ParameterService and Sync/AsyncParameterClient accept rclcpp::QoS (

#1978)

* Make ParameterService and Sync/AsyncParameterClient accept rclcpp::QoS

Signed-off-by: Barry Xu <barry.xu@sony.com>

* Avoid deprecated function using another deprecated function

Signed-off-by: Barry Xu <barry.xu@sony.com>

Signed-off-by: Barry Xu <barry.xu@sony.com>

rclcpp/include/rclcpp/parameter_client.hpp

@@ -39,6 +39,7 @@
 #include "rclcpp/node.hpp"
 #include "rclcpp/parameter.hpp"
 #include "rclcpp/parameter_map.hpp"
+#include "rclcpp/qos.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rmw/rmw.h"
@@ -51,14 +52,45 @@ class AsyncParametersClient
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(AsyncParametersClient)
 
+  /// Create an async parameters client.
+  /**
+   * \param[in] node_base_interface The node base interface of the corresponding node.
+   * \param[in] node_topics_interface Node topic base interface.
+   * \param[in] node_graph_interface The node graph interface of the corresponding node.
+   * \param[in] node_services_interface Node service interface.
+   * \param[in] remote_node_name Name of the remote node
+   * \param[in] qos_profile The rmw qos profile to use to subscribe
+   * \param[in] group (optional) The async parameter client will be added to this callback group.
+   * \deprecated use rclcpp::QoS instead of rmw_qos_profile_t
+   */
+  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
+  RCLCPP_PUBLIC
+  AsyncParametersClient(
+    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
+    const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
+    const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
+    const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
+    const std::string & remote_node_name,
+    const rmw_qos_profile_t & qos_profile,
+    rclcpp::CallbackGroup::SharedPtr group = nullptr)
+  : AsyncParametersClient(
+      node_base_interface,
+      node_topics_interface,
+      node_graph_interface,
+      node_services_interface,
+      remote_node_name,
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)),
+      group)
+  {}
+
   /// Create an async parameters client.
   /**
    * \param[in] node_base_interface The node base interface of the corresponding node.
    * \param[in] node_topics_interface Node topic base interface.
    * \param[in] node_graph_interface The node graph interface of the corresponding node.
    * \param[in] node_services_interface Node service interface.
    * \param[in] remote_node_name (optional) name of the remote node
-   * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
+   * \param[in] qos_profile (optional) The qos profile to use to subscribe
    * \param[in] group (optional) The async parameter client will be added to this callback group.
    */
   RCLCPP_PUBLIC
@@ -68,21 +100,45 @@ class AsyncParametersClient
     const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
     const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
+    const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS(),
     rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   /// Constructor
   /**
-   * \param[in] node The async paramters client will be added to this node.
+   * \param[in] node The async parameters client will be added to this node.
+   * \param[in] remote_node_name name of the remote node
+   * \param[in] qos_profile The rmw qos profile to use to subscribe
+   * \param[in] group (optional) The async parameter client will be added to this callback group.
+   * \deprecated use rclcpp::QoS instead of rmw_qos_profile_t
+   */
+  template<typename NodeT>
+  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
+  AsyncParametersClient(
+    const std::shared_ptr<NodeT> node,
+    const std::string & remote_node_name,
+    const rmw_qos_profile_t & qos_profile,
+    rclcpp::CallbackGroup::SharedPtr group = nullptr)
+  : AsyncParametersClient(
+      node->get_node_base_interface(),
+      node->get_node_topics_interface(),
+      node->get_node_graph_interface(),
+      node->get_node_services_interface(),
+      remote_node_name,
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)),
+      group)
+  {}
+
+  /**
+   * \param[in] node The async parameters client will be added to this node.
    * \param[in] remote_node_name (optional) name of the remote node
-   * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
+   * \param[in] qos_profile (optional) The qos profile to use to subscribe
    * \param[in] group (optional) The async parameter client will be added to this callback group.
    */
   template<typename NodeT>
   explicit AsyncParametersClient(
     const std::shared_ptr<NodeT> node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
+    const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS(),
     rclcpp::CallbackGroup::SharedPtr group = nullptr)
   : AsyncParametersClient(
       node->get_node_base_interface(),
@@ -96,16 +152,40 @@ class AsyncParametersClient
 
   /// Constructor
   /**
-   * \param[in] node The  async paramters client will be added to this node.
+   * \param[in] node The async parameters client will be added to this node.
+   * \param[in] remote_node_name Name of the remote node
+   * \param[in] qos_profile The rmw qos profile to use to subscribe
+   * \param[in] group (optional) The async parameter client will be added to this callback group.
+   * \deprecated use rclcpp::QoS instead of rmw_qos_profile_t
+   */
+  template<typename NodeT>
+  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
+  AsyncParametersClient(
+    NodeT * node,
+    const std::string & remote_node_name,
+    const rmw_qos_profile_t & qos_profile,
+    rclcpp::CallbackGroup::SharedPtr group = nullptr)
+  : AsyncParametersClient(
+      node->get_node_base_interface(),
+      node->get_node_topics_interface(),
+      node->get_node_graph_interface(),
+      node->get_node_services_interface(),
+      remote_node_name,
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)),
+      group)
+  {}
+
+  /**
+   * \param[in] node The async parameters client will be added to this node.
    * \param[in] remote_node_name (optional) name of the remote node
-   * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
+   * \param[in] qos_profile (optional) The qos profile to use to subscribe
    * \param[in] group (optional) The async parameter client will be added to this callback group.
    */
   template<typename NodeT>
   explicit AsyncParametersClient(
     NodeT * node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
+    const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS(),
     rclcpp::CallbackGroup::SharedPtr group = nullptr)
   : AsyncParametersClient(
       node->get_node_base_interface(),
@@ -211,9 +291,7 @@ class AsyncParametersClient
   typename rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
   on_parameter_event(
     CallbackT && callback,
-    const rclcpp::QoS & qos = (
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events))
-    ),
+    const rclcpp::QoS & qos = rclcpp::ParameterEventsQoS(),
     const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
       rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
   ))
@@ -238,9 +316,7 @@ class AsyncParametersClient
   on_parameter_event(
     NodeT && node,
     CallbackT && callback,
-    const rclcpp::QoS & qos = (
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events))
-    ),
+    const rclcpp::QoS & qos = rclcpp::ParameterEventsQoS(),
     const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
       rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
   ))
@@ -307,24 +383,54 @@ class SyncParametersClient
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(SyncParametersClient)
 
+  template<typename NodeT>
+  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
+  SyncParametersClient(
+    std::shared_ptr<NodeT> node,
+    const std::string & remote_node_name,
+    const rmw_qos_profile_t & qos_profile)
+  : SyncParametersClient(
+      std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
+      node,
+      remote_node_name,
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)))
+  {}
+
   template<typename NodeT>
   explicit SyncParametersClient(
     std::shared_ptr<NodeT> node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
+    const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS())
   : SyncParametersClient(
       std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
       node,
       remote_node_name,
       qos_profile)
   {}
 
+  template<typename NodeT>
+  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
+  SyncParametersClient(
+    rclcpp::Executor::SharedPtr executor,
+    std::shared_ptr<NodeT> node,
+    const std::string & remote_node_name,
+    const rmw_qos_profile_t & qos_profile)
+  : SyncParametersClient(
+      executor,
+      node->get_node_base_interface(),
+      node->get_node_topics_interface(),
+      node->get_node_graph_interface(),
+      node->get_node_services_interface(),
+      remote_node_name,
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)))
+  {}
+
   template<typename NodeT>
   SyncParametersClient(
     rclcpp::Executor::SharedPtr executor,
     std::shared_ptr<NodeT> node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
+    const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS())
   : SyncParametersClient(
       executor,
       node->get_node_base_interface(),
@@ -335,24 +441,54 @@ class SyncParametersClient
       qos_profile)
   {}
 
+  template<typename NodeT>
+  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
+  SyncParametersClient(
+    NodeT * node,
+    const std::string & remote_node_name,
+    const rmw_qos_profile_t & qos_profile)
+  : SyncParametersClient(
+      std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
+      node,
+      remote_node_name,
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)))
+  {}
+
   template<typename NodeT>
   explicit SyncParametersClient(
     NodeT * node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
+    const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS())
   : SyncParametersClient(
       std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
       node,
       remote_node_name,
       qos_profile)
   {}
 
+  template<typename NodeT>
+  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
+  SyncParametersClient(
+    rclcpp::Executor::SharedPtr executor,
+    NodeT * node,
+    const std::string & remote_node_name,
+    const rmw_qos_profile_t & qos_profile)
+  : SyncParametersClient(
+      executor,
+      node->get_node_base_interface(),
+      node->get_node_topics_interface(),
+      node->get_node_graph_interface(),
+      node->get_node_services_interface(),
+      remote_node_name,
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)))
+  {}
+
   template<typename NodeT>
   SyncParametersClient(
     rclcpp::Executor::SharedPtr executor,
     NodeT * node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
+    const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS())
   : SyncParametersClient(
       executor,
       node->get_node_base_interface(),
@@ -363,6 +499,28 @@ class SyncParametersClient
       qos_profile)
   {}
 
+  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
+  RCLCPP_PUBLIC
+  SyncParametersClient(
+    rclcpp::Executor::SharedPtr executor,
+    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
+    const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
+    const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
+    const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
+    const std::string & remote_node_name,
+    const rmw_qos_profile_t & qos_profile)
+  : executor_(executor), node_base_interface_(node_base_interface)
+  {
+    async_parameters_client_ =
+      std::make_shared<AsyncParametersClient>(
+      node_base_interface,
+      node_topics_interface,
+      node_graph_interface,
+      node_services_interface,
+      remote_node_name,
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)));
+  }
+
   RCLCPP_PUBLIC
   SyncParametersClient(
     rclcpp::Executor::SharedPtr executor,
@@ -371,7 +529,7 @@ class SyncParametersClient
     const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
     const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
+    const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS())
   : executor_(executor), node_base_interface_(node_base_interface)
   {
     async_parameters_client_ =

rclcpp/include/rclcpp/parameter_service.hpp

@@ -28,6 +28,7 @@
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/parameter.hpp"
+#include "rclcpp/qos.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rmw/rmw.h"
 
@@ -39,12 +40,26 @@ class ParameterService
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(ParameterService)
 
+  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
   RCLCPP_PUBLIC
-  explicit ParameterService(
+  ParameterService(
     const std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
     const std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
     rclcpp::node_interfaces::NodeParametersInterface * node_params,
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
+    const rmw_qos_profile_t & qos_profile)
+  : ParameterService(
+      node_base,
+      node_services,
+      node_params,
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)))
+  {}
+
+  RCLCPP_PUBLIC
+  ParameterService(
+    const std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
+    const std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
+    rclcpp::node_interfaces::NodeParametersInterface * node_params,
+    const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS());
 
 private:
   rclcpp::Service<rcl_interfaces::srv::GetParameters>::SharedPtr get_parameters_service_;

rclcpp/src/rclcpp/parameter_client.cpp

@@ -35,7 +35,7 @@ AsyncParametersClient::AsyncParametersClient(
   const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
   const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
   const std::string & remote_node_name,
-  const rmw_qos_profile_t & qos_profile,
+  const rclcpp::QoS & qos_profile,
   rclcpp::CallbackGroup::SharedPtr group)
 : node_topics_interface_(node_topics_interface)
 {
@@ -46,7 +46,7 @@ AsyncParametersClient::AsyncParametersClient(
   }
 
   rcl_client_options_t options = rcl_client_get_default_options();
-  options.qos = qos_profile;
+  options.qos = qos_profile.get_rmw_qos_profile();
 
   using rclcpp::Client;
   using rclcpp::ClientBase;

rclcpp/src/rclcpp/parameter_service.cpp

@@ -29,7 +29,7 @@ ParameterService::ParameterService(
   const std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> node_base,
   const std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface> node_services,
   rclcpp::node_interfaces::NodeParametersInterface * node_params,
-  const rmw_qos_profile_t & qos_profile)
+  const rclcpp::QoS & qos_profile)
 {
   const std::string node_name = node_base->get_name();