Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Intra-process subscriber should use RMW actual qos. (ros2#913) #914

Merged
merged 2 commits into from
Nov 25, 2019
Merged

Intra-process subscriber should use RMW actual qos. (ros2#913) #914

Changes from 1 commit
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
d5b8831
Intra-process subscriber should use RMW actual qos. (ros2#913)
malsbat Nov 6, 2019
a951be4
Remove keep_last_zero_depth_qos from invalid_qos_profiles.
malsbat Nov 20, 2019
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
9 changes: 5 additions & 4 deletions rclcpp/include/rclcpp/subscription.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -124,15 +124,16 @@ class Subscription : public SubscriptionBase
using rclcpp::detail::resolve_intra_process_buffer_type;

// Check if the QoS is compatible with intra-process.
if (qos.get_rmw_qos_profile().history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
rmw_qos_profile_t qos_profile = get_actual_qos().get_rmw_qos_profile();
if (qos_profile.history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
throw std::invalid_argument(
"intraprocess communication is not allowed with keep all history qos policy");
}
if (qos.get_rmw_qos_profile().depth == 0) {
if (qos_profile.depth == 0) {
throw std::invalid_argument(
"intraprocess communication is not allowed with 0 depth qos policy");
}
if (qos.get_rmw_qos_profile().durability != RMW_QOS_POLICY_DURABILITY_VOLATILE) {
if (qos_profile.durability != RMW_QOS_POLICY_DURABILITY_VOLATILE) {
throw std::invalid_argument(
"intraprocess communication allowed only with volatile durability");
}
Expand All @@ -149,7 +150,7 @@ class Subscription : public SubscriptionBase
options.get_allocator(),
context,
this->get_topic_name(), // important to get like this, as it has the fully-qualified name
qos.get_rmw_qos_profile(),
qos_profile,
resolve_intra_process_buffer_type(options.intra_process_buffer_type, callback)
);

Expand Down