Add functions for resolving 'best available' QoS policies #60
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Given a QoS profile and set of endpoints for the same topic, overwrite any policies set to BEST_AVAILABLE with a policy such that it matches all endpoints while maintaining a high level of service. Add testable functions for updating BEST_AVAILABLE policies, - qos_profile_get_best_available_for_subscription - qos_profile_get_best_available_for_publisher and add convenience functions that actual query the graph for RMW implementations to use, - qos_profile_get_best_available_for_topic_subscription - qos_profile_get_best_available_for_topic_publisher Signed-off-by: Jacob Perron <jacob@openrobotics.org>
This was referenced Apr 15, 2022
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If users set a policy as 'best available', then the middleware will pick a policy that is most compatible with the current set of discovered endpoints while maintaining the highest level of service possible. For details about the expected behavior, see connected changes: - ros2/rmw#320 - ros2/rmw_dds_common#60 Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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Apr 21, 2022
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
j-rivero
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wjwwood
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Apr 25, 2022
Basically, ignore best available policies by overwriting them with the default policy used for services. Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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PTAL at the latest addition to handle services: ed492d9 |
wjwwood
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If users set a policy as 'best available', then the middleware will pick a policy that is most compatible with the current set of discovered endpoints while maintaining the highest level of service possible. For details about the expected behavior, see connected changes: - ros2/rmw#320 - ros2/rmw_dds_common#60 Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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Connects to ros2/rmw#320
Given a QoS profile and set of endpoints for the same topic, overwrite any policies set to
BEST_AVAILABLE with a policy such that it matches all endpoints while maintaining a high
level of service.
Add testable functions for updating BEST_AVAILABLE policies,
and add convenience functions that actual query the graph for RMW implementations to use,