rclcpp::QosOverridingOptions Class Reference

Options that are passed in subscription/publisher constructor to specify QoSConfigurability. More...

#include <rclcpp/qos_overriding_options.hpp>

Public Member Functions
RCLCPP_PUBLIC	QosOverridingOptions ()=default
	Default constructor, no overrides allowed.
RCLCPP_PUBLIC	QosOverridingOptions (std::initializer_list< QosPolicyKind > policy_kinds, QosCallback validation_callback=nullptr, std::string id={})
	Construct passing a list of QoS policies and a verification callback. More...
RCLCPP_PUBLIC const std::string &	get_id () const
RCLCPP_PUBLIC const std::vector< QosPolicyKind > &	get_policy_kinds () const
RCLCPP_PUBLIC const QosCallback &	get_validation_callback () const

Static Public Member Functions
static RCLCPP_PUBLIC QosOverridingOptions	with_default_policies (QosCallback validation_callback=nullptr, std::string id={})
	Construct passing a list of QoS policies and a verification callback. More...

Detailed Description

Options that are passed in subscription/publisher constructor to specify QoSConfigurability.

This options struct allows configuring:

• Which policy kinds will have declared parameters.
• An optional callback, that will be called to validate the final qos profile.
• An optional id. In the case that different qos are desired for two publishers/subscriptions in the same topic, this id will allow disambiguating them.

Example parameter file:

my_node_name:
 ros__parameters:
   qos_overrides:
     /my/topic/name:
       publisher:  # publisher without provided id
         reliability: reliable
         depth: 100
       publisher_my_id:  # publisher with `id="my_id"
         reliability: reliable
         depth: 10

Definition at line 89 of file qos_overriding_options.hpp.

Constructor & Destructor Documentation

QosOverridingOptions()

rclcpp::QosOverridingOptions::QosOverridingOptions	(	std::initializer_list< QosPolicyKind >	policy_kinds,
		QosCallback	validation_callback = nullptr,
		std::string	id = {}
	)

Construct passing a list of QoS policies and a verification callback.

This constructor is implicit, e.g.:

node->create_publisher(
  "topic_name",
  default_qos_profile,
  {
    {QosPolicyKind::Reliability},
    [] (auto && qos) {return check_qos_validity(qos)},
    "my_id"
  });

Parameters

policy_kinds	list of policy kinds that will be reconfigurable.
validation_callback	callbak that will be called to validate the validity of the qos profile set by the user.
id	id of the entity.

Definition at line 49 of file qos_overriding_options.cpp.

Member Function Documentation

with_default_policies()

QosOverridingOptions rclcpp::QosOverridingOptions::with_default_policies ( QosCallback  validation_callback = nullptr, std::string  id = {}  )

static

Construct passing a list of QoS policies and a verification callback.

Same as QosOverridingOptions constructor, but only declares the default policies:

History, Depth, Reliability.

Definition at line 59 of file qos_overriding_options.cpp.

---

The documentation for this class was generated from the following files:

• rclcpp/include/rclcpp/qos_overriding_options.hpp
• rclcpp/src/rclcpp/qos_overriding_options.cpp