Example of using Deadline, Liveliness, and Lifespan QoS in Client #314
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| auto event_callback = [](rclcpp::ResourceStatusEvent event_type) -> void | ||
| { | ||
| if (rclcpp::ResourceStatusEvent::DEADLINE_MISSED == event_type) { | ||
| printf("deadline event occured"); |
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As we spoke about in our meeting, I think it would be best to have separate callbacks for each type of event, so that you could pass additional information about that event clearly as arguments to the callback. For example, here it would be good to know which instance/publisher or instance/subscription had a deadline missed. For the subscription/publisher, you can perhaps automatically associate which one it was by passing a different callback to each one when you add the callback, but for the instance (looking to the future when we'll have keys) you'd need more information than you have when you register the callback initially.
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Yep, we are currently working on that.
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Ok, should I hold off reviewing for now? Or do you want more early feedback?
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(I was going to do a full review, and accidentally clicked "add single comment" mid typing 🤦♂️)
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We would like more early feedback. We believe that rcl (ros2/rcl#396) and rmw (ros2/rmw#167) interfaces are relatively final.
rclcpp (ros2/rclcpp#655) is probably the most in flux, but for now can you take a look at how we're planning to have PublisherBase and SubscriptionBase to implement the Waitable interface and removing a bunch of vectors of rcl handles in AllocatorMemoryStrategy?
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Hi @wjwwood, I've updated the sample code to show the use of separate callbacks for each type of event. |
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| rclcpp::PublisherOptions<MyAllocator<void>> pub_options; | ||
| pub_options.qos_history_depth(10) | ||
| .deadline_callback(deadline_event_callback) |
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Let's not add all of these callbacks to the allocator example. We should try to keep each example small and specific. Adding these is unnecessary noise in a demo about allocators.
| latched_qos.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; | ||
| auto map_pub = node->create_publisher<nav_msgs::msg::OccupancyGrid>( | ||
| "map", latched_qos); | ||
| rclcpp::PublisherOptions<> latched_qos; |
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Rename this variable as it's no longer just qos settings.
image_tools/src/cam2image.cpp
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| RCLCPP_INFO(node_logger, "Publishing data on topic '%s'", topic.c_str()); | ||
| // Create the image publisher with our custom QoS profile. | ||
| auto pub = node->create_publisher<sensor_msgs::msg::Image>( | ||
| topic, custom_camera_qos_profile); | ||
| auto pub = node->create_publisher<sensor_msgs::msg::Image>(topic, nullptr, |
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If something is getting passed in as a nullptr should it also be moved to the Options class?
image_tools/src/cam2image.cpp
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| @@ -105,26 +105,26 @@ int main(int argc, char * argv[]) | |||
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| // Set the parameters of the quality of service profile. Initialize as the default profile | |||
| // and set the QoS parameters specified on the command line. | |||
| rmw_qos_profile_t custom_camera_qos_profile = rmw_qos_profile_default; | |||
| rclcpp::PublisherOptions<> custom_camera_qos_profile; | |||
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Rename variable as it is no longer just qos settings.
image_tools/src/cam2image.cpp
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| @@ -139,11 +139,11 @@ int main(int argc, char * argv[]) | |||
| }; | |||
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| // Set the QoS profile for the subscription to the flip message. | |||
| rmw_qos_profile_t custom_flip_qos_profile = rmw_qos_profile_sensor_data; | |||
| custom_flip_qos_profile.depth = 10; | |||
| rclcpp::SubscriptionOptions<> custom_flip_qos_profile(rmw_qos_profile_sensor_data); | |||
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Update variable name here and all the others below too.
As part of implementation for Deadline, Liveliness, and Lifespan QoS. The design is at ros2/design#212
The changes are examples of how a user would create subscribers and publishers in their client-side application code.