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Adding QoS to subscription options #2323

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Merged
clalancette merged 2 commits into from
Dec 1, 2023
Merged

Adding QoS to subscription options #2323

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0bfaa83
Adding QoS to subscription options
CursedRock17 Oct 2, 2023
68d7f5c
Fixing line length
CursedRock17 Oct 3, 2023
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2 changes: 1 addition & 1 deletion rclcpp/include/rclcpp/create_subscription.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,7 +89,7 @@ create_subscription(
node_parameters,
node_topics_interface,
options.topic_stats_options.publish_topic,
qos);
options.topic_stats_options.qos);

subscription_topic_stats = std::make_shared<
rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType>
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4 changes: 4 additions & 0 deletions rclcpp/include/rclcpp/subscription_options.hpp
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Expand Up @@ -77,6 +77,10 @@ struct SubscriptionOptionsBase
// Topic statistics publication period in ms. Defaults to one second.
// Only values greater than zero are allowed.
std::chrono::milliseconds publish_period{std::chrono::seconds(1)};

// An optional QoS which can provide topic_statistics with a stable QoS separate from
// the subscription's current QoS settings which could be unstable.
rclcpp::QoS qos = SystemDefaultsQoS();
};

TopicStatisticsOptions topic_stats_options;
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3 changes: 3 additions & 0 deletions rclcpp/test/rclcpp/test_subscription_options.cpp
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Expand Up @@ -60,14 +60,17 @@ TEST_F(TestSubscriptionOptions, topic_statistics_options_default_and_set) {
EXPECT_EQ(options.topic_stats_options.state, rclcpp::TopicStatisticsState::NodeDefault);
EXPECT_EQ(options.topic_stats_options.publish_topic, defaultPublishTopic);
EXPECT_EQ(options.topic_stats_options.publish_period, 1s);
EXPECT_EQ(options.topic_stats_options.qos, rclcpp::SystemDefaultsQoS());

options.topic_stats_options.state = rclcpp::TopicStatisticsState::Enable;
options.topic_stats_options.publish_topic = "topic_statistics";
options.topic_stats_options.publish_period = 5min;
options.topic_stats_options.qos = rclcpp::BestAvailableQoS();

EXPECT_EQ(options.topic_stats_options.state, rclcpp::TopicStatisticsState::Enable);
EXPECT_EQ(options.topic_stats_options.publish_topic, "topic_statistics");
EXPECT_EQ(options.topic_stats_options.publish_period, 5min);
EXPECT_EQ(options.topic_stats_options.qos, rclcpp::BestAvailableQoS());
}

TEST_F(TestSubscriptionOptions, topic_statistics_options_node_default_mode) {
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