From 0bf952b4169244824575420fdc51401ca495409c Mon Sep 17 00:00:00 2001 From: Ada-King Date: Tue, 21 Jul 2020 14:13:10 +0800 Subject: [PATCH] Expose qos setting for /rosout Signed-off-by: Ada-King --- rmw/include/rmw/qos_profiles.h | 14 ++++++++++++++ rmw/include/rmw/types.h | 3 +++ 2 files changed, 17 insertions(+) diff --git a/rmw/include/rmw/qos_profiles.h b/rmw/include/rmw/qos_profiles.h index 0e39c6f2..9ae3425e 100644 --- a/rmw/include/rmw/qos_profiles.h +++ b/rmw/include/rmw/qos_profiles.h @@ -61,6 +61,20 @@ static const rmw_qos_profile_t rmw_qos_profile_default = false }; +static const rmw_qos_profile_t rmw_rosout_qos_profile_default = +{ + RMW_QOS_POLICY_HISTORY_KEEP_LAST, + 1000, + RMW_QOS_POLICY_RELIABILITY_RELIABLE, + RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL, + RMW_QOS_DEADLINE_DEFAULT, + RMW_ROSOUT_QOS_LIFESPAN_DEFAULT, + RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT, + RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT, + false +}; + + static const rmw_qos_profile_t rmw_qos_profile_services_default = { RMW_QOS_POLICY_HISTORY_KEEP_LAST, diff --git a/rmw/include/rmw/types.h b/rmw/include/rmw/types.h index fa14c668..48b074cd 100644 --- a/rmw/include/rmw/types.h +++ b/rmw/include/rmw/types.h @@ -430,6 +430,9 @@ enum RMW_PUBLIC_TYPE rmw_qos_liveliness_policy_t /// QoS Lifespan default, 0s indicate lifespan policies are not tracked or enforced #define RMW_QOS_LIFESPAN_DEFAULT {0, 0} +/// Rosout QoS Lifespan default, 10s indicate lifespan policies are tracked +#define RMW_ROSOUT_QOS_LIFESPAN_DEFAULT {10, 0} + /// QoS Liveliness lease duration default, 0s indicate lease durations are not tracked or enforced #define RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT {0, 0}