ros2 qos

[Noname]

How can i change the qos (quality of service) in subscriber/publisher (simROS2.createSubscription/simROS2.createPublisher)?

[coppelia]

Hello,

this is currently not directly possible. You'd have to slightly modify the ROS2 plugin and recompile. Or, if running via Python, you could use the ROS client library for Python (rclpy) instead of the ROS2 plugin.

Cheers

[Noname]

Hello, so i found this in sim_ros2_interface "rclcpp::QoS qos = 10;
subscriptionProxy->subscription = node->create_subscription<`interface.cpp_type`>(in->topicName, qos, cb);"
What does it means qos=10?)
How can i modify it to usually qos settings (History, Depth, Reliability etc.)?

[fferri]

https://docs.ros2.org/foxy/api/rclcpp/c ... 4546ec3963

[fferri]

Experimental support for QoS has been added to simROS2.

You can create a qos struct in lua:

Code: Select all

--lua
local qos = {
        history = simROS2.qos_history_policy.system_default,
        depth = 10,
        reliability = simROS2.qos_reliability_policy.system_default,
        durability = simROS2.qos_durability_policy.system_default,
        deadline = {sec = 0, nanosec = 0},
        lifespan = {sec = 0, nanosec = 0},
        liveliness = simROS2.qos_liveliness_policy.system_default,
        liveliness_lease_duration = {sec = 0, nanosec = 0},
        avoid_ros_namespace_conventions = false,
}

and pass it as last argument of simROS2.createPublisher and simROS2.createSubscription.

[Noname]

Thank you