Disable all liveliness until it is actually supported (#282)

Signed-off-by: Emerson Knapp <eknapp@amazon.com>
ros2 · May 23, 2019 · 66d9128 · 66d9128
1 parent cc44093
commit 66d9128
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/rmw_fastrtps_shared_cpp/src/qos.cpp b/rmw_fastrtps_shared_cpp/src/qos.cpp
@@ -161,9 +161,10 @@ bool
 is_valid_qos(const rmw_qos_profile_t & qos_policies)
 {
   if (qos_policies.liveliness == RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE ||
-    qos_policies.liveliness == RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC)
+    qos_policies.liveliness == RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC ||
+    !is_time_default(qos_policies.liveliness_lease_duration))
   {
-    RMW_SET_ERROR_MSG("Manual liveliness unsupported for fastrtps");
+    RMW_SET_ERROR_MSG("Liveliness QoS is not yet supported for fastrtps.");
     return false;
   }
   return true;