Demonstrate overriding QoS settings via parameters #16
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Signed-off-by: Michael X. Grey <greyxmike@gmail.com>
Signed-off-by: Michael X. Grey <greyxmike@gmail.com>
luca-della-vedova
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luca-della-vedova
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While the example itself is useful I was investigating other libraries and I noticed that nodes by default offer a parameter interface to override the QoS.
For example, in my jazzy machine:
$ ros2 run examples_rclcpp_minimal_publisher publisher_lambda
# Another terminal
$ ros2 param list
/minimal_publisher:
qos_overrides./parameter_events.publisher.depth
qos_overrides./parameter_events.publisher.durability
qos_overrides./parameter_events.publisher.history
qos_overrides./parameter_events.publisher.reliability
start_type_description_service
use_sim_timeSo I feel the best way forward would actually be to move this logic in rclrs, what do you think?
| let _subscription = | ||
| node.create_subscription("greet", move |msg: example_interfaces::msg::String| { | ||
| let reliability_override = node | ||
| .declare_parameter::<Arc<str>>("qos_override/reliability") |
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Note for self / others, parameters use . as a separator, not /
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This PR is in response to ros2-rust/ros2_rust#554 where a user reported an issue with overriding QoS settings based on node parameter values.
I've updated the
parameter_demoto demonstrate that use case. I found no issue with changing the subscription reliability based on parameter values.