Expose qos setting for /rosout

Signed-off-by: Ada-King <Bingtao.Du@sony.com>
ros2 · Jul 21, 2020 · e457d98 · e457d98
1 parent 63b5c6d
commit e457d98
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diff --git 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
@@ -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}