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Qos configurability #635

Merged
merged 29 commits into from
Nov 17, 2020
Merged

Qos configurability #635

merged 29 commits into from
Nov 17, 2020

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ivanpauno
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@ivanpauno ivanpauno commented Oct 28, 2020 •
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Depends on #636. (update:merged)
Equivalent to ros2/rclcpp#1408.

It adds all the needed helper function and classes to enable qos configurability.
I haven't yet modified Node.create_publisher and Node.create_subscription. (update: done)

@ivanpauno ivanpauno added the enhancement New feature or request label Oct 28, 2020
@ivanpauno ivanpauno self-assigned this Oct 28, 2020
@ivanpauno ivanpauno mentioned this pull request Oct 28, 2020
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@ivanpauno ivanpauno force-pushed the ivanpauno/qos-configurability branch from 8d7b21c to ef72cbd Compare October 28, 2020 19:28
@ivanpauno ivanpauno marked this pull request as ready for review October 28, 2020 20:53
jacobperron
jacobperron reviewed Oct 29, 2020
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Looking good!

rclpy/rclpy/node.py Outdated Show resolved Hide resolved
rclpy/rclpy/node.py Outdated Show resolved Hide resolved
rclpy/rclpy/qos_overriding_options.py Outdated Show resolved Hide resolved
rclpy/rclpy/qos_overriding_options.py Outdated Show resolved Hide resolved
rclpy/rclpy/qos_overriding_options.py Outdated Show resolved Hide resolved
rclpy/rclpy/qos_overriding_options.py Outdated Show resolved Hide resolved
rclpy/rclpy/qos_overriding_options.py Outdated Show resolved Hide resolved
rclpy/rclpy/qos_overriding_options.py Outdated Show resolved Hide resolved
rclpy/rclpy/qos_overriding_options.py Show resolved Hide resolved
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ivanpauno and others added 22 commits October 30, 2020 17:02
@ivanpauno
Add QoSOverridingOptions
fdad6e3 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno
Fix Node.get_parameters_by_prefix() type annotation
3300d10 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno
Add helper classmethod for using default policies
67ac124 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno
Add test cases
80781c9 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno
Please linters + improve test setup and teardown
5fbc30c 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno
Declare qos overrides parameters in create_publisher/create_subscript…
5e6235b 
…ion + fixes

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno @jacobperron
qos -> QoS
b18d0ba 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Co-authored-by: Jacob Perron <jacob@openrobotics.org>
@ivanpauno @jacobperron
qos -> QoS
ef1e7bb 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Co-authored-by: Jacob Perron <jacob@openrobotics.org>
@ivanpauno @jacobperron
qos -> QoS
fa434f9 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Co-authored-by: Jacob Perron <jacob@openrobotics.org>
@ivanpauno @jacobperron
qos -> QoS
2e5297f 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Co-authored-by: Jacob Perron <jacob@openrobotics.org>
@ivanpauno @jacobperron
qos -> QoS
9b06ffa 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Co-authored-by: Jacob Perron <jacob@openrobotics.org>
@ivanpauno @jacobperron
style
b34a04c 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Co-authored-by: Jacob Perron <jacob@openrobotics.org>
@ivanpauno @jacobperron
qos -> QoS
51bddf4 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Co-authored-by: Jacob Perron <jacob@openrobotics.org>
@ivanpauno @jacobperron
qos -> QoS
fad4467 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Co-authored-by: Jacob Perron <jacob@openrobotics.org>
@ivanpauno @jacobperron
grammar
85a8cb7 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Co-authored-by: Jacob Perron <jacob@openrobotics.org>
@ivanpauno @jacobperron
qos -> QoS
589d2a2 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Co-authored-by: Jacob Perron <jacob@openrobotics.org>
@ivanpauno @jacobperron
bug
0c5e7ce 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Co-authored-by: Jacob Perron <jacob@openrobotics.org>
@ivanpauno @jacobperron
qos -> QoS
17c834a 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Co-authored-by: Jacob Perron <jacob@openrobotics.org>
@ivanpauno
Fix _get_qos_policy_parameter type annotation
50700ac 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno @jacobperron
qos -> QoS
523dd59 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Co-authored-by: Jacob Perron <jacob@openrobotics.org>
@ivanpauno
_declare_qos_parameteres -> _declare_qos_parameters
812d44f 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno
Fix after rebasing
c4f109b 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno ivanpauno force-pushed the ivanpauno/qos-configurability branch from 3f2abbc to c4f109b Compare October 30, 2020 20:17
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Force-pushed to resolve conflicts with master.

jacobperron
jacobperron approved these changes Nov 2, 2020
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LGTM

rclpy/rclpy/node.py Outdated Show resolved Hide resolved
@ivanpauno
Handle exception gracefully
751a601 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
jacobperron
jacobperron reviewed Nov 3, 2020
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@ivanpauno
Suppress exception context
59951a3 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno
flake8
9fce94b 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
mjeronimo
mjeronimo approved these changes Nov 3, 2020
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Looks good.

@ivanpauno
Add test to CMakeLists
f8ba331 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno
Use declare_or_get logic
0446d24 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno
Improve testing
a9fc10f 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno
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CI can be found here.

@ivanpauno
Add error message in validation callback result
6b6f2c2 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
This was referenced Nov 9, 2020
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@ros-pull-request-builder retest this please

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ivanpauno commented Nov 17, 2020 •
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CI:

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@ivanpauno ivanpauno merged commit ff56a94 into master Nov 17, 2020
@delete-merged-branch delete-merged-branch bot deleted the ivanpauno/qos-configurability branch November 17, 2020 20:43
@jacobperron jacobperron mentioned this pull request Jan 13, 2021
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@jacobperron jacobperron mentioned this pull request Jan 21, 2021
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