qos_profiles.hpp

// Copyright (c) 2025 Open Navigation LLC
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef NAV2_ROS_COMMON__QOS_PROFILES_HPP_
#define NAV2_ROS_COMMON__QOS_PROFILES_HPP_
 
#include "rclcpp/rclcpp.hpp"
 
namespace nav2
{
 
namespace qos
{
 
class StandardTopicQoS : public rclcpp::QoS
{
public:
  explicit
  StandardTopicQoS(const int depth = 10)  // NOLINT
  : rclcpp::QoS(rclcpp::KeepLast(depth))
  {
    this->reliable();
    this->durability_volatile();
  }
};
 
class LatchedPublisherQoS : public rclcpp::QoS
{
public:
  explicit
  LatchedPublisherQoS(const int depth = 1)  // NOLINT
  : rclcpp::QoS(rclcpp::KeepLast(depth))
  {
    this->reliable();
    this->transient_local();
  }
};
 
class LatchedSubscriptionQoS : public rclcpp::QoS
{
public:
  explicit
  LatchedSubscriptionQoS(const int depth = 10)  // NOLINT
  : rclcpp::QoS(rclcpp::KeepLast(depth))
  {
    this->reliable();
    this->transient_local();
  }
};
 
class SensorDataQoS : public rclcpp::QoS
{
public:
  explicit
  SensorDataQoS(const int depth = 10)  // NOLINT
  : rclcpp::QoS(rclcpp::KeepLast(depth))
  {
    this->best_effort();
    this->durability_volatile();
  }
};
 
}  // namespace qos
 
}  // namespace nav2
 
#endif  // NAV2_ROS_COMMON__QOS_PROFILES_HPP_