Lifespan not working with transiet_local subscriber

  https://github.com/ros2/rclpy/issues/1163

Signed-off-by: Tomoya Fujita <[email protected]>

prover_rclpy/setup.py

@@ -70,6 +70,8 @@
             'rclpy_1132 = src.rclpy_1132:main',
             'rclpy_1149 = src.rclpy_1149:main',
             'rclpy_1159 = src.rclpy_1159:main',
+            'rclpy_1163_pub = src.rclpy_1163_pub:main',
+            'rclpy_1163_sub = src.rclpy_1163_sub:main',
             'ros2cli_818 = src.ros2cli_818:main',
         ],
     },

prover_rclpy/src/rclpy_1163_pub.py

@@ -0,0 +1,40 @@
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import (
+    QoSDurabilityPolicy,
+    QoSProfile,
+    QoSReliabilityPolicy,
+)
+
+from std_msgs.msg import Bool
+
+
+class PubNode(Node):
+    def __init__(self):
+        super().__init__("pub_node")
+
+        qos = QoSProfile(
+            depth=5,
+            durability=QoSDurabilityPolicy.TRANSIENT_LOCAL,
+            reliability=QoSReliabilityPolicy.RELIABLE,
+        )
+
+        self.pub = self.create_publisher(Bool, "/some_topic", qos)
+        self.pub.publish(Bool(data=False))
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = PubNode()
+
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

prover_rclpy/src/rclpy_1163_sub.py

@@ -0,0 +1,48 @@
+from rclpy.node import Node
+from rclpy.qos import (
+    QoSDurabilityPolicy,
+    QoSProfile,
+    QoSReliabilityPolicy,
+)
+from std_msgs.msg import Bool
+from rclpy.duration import Duration
+import rclpy
+
+
+class SubNode(Node):
+    def __init__(self):
+        super().__init__("sub_node")
+
+        qos = QoSProfile(
+            depth=5,
+            durability=QoSDurabilityPolicy.TRANSIENT_LOCAL,
+            reliability=QoSReliabilityPolicy.RELIABLE,
+            lifespan=Duration(seconds=2),
+        )
+        print(qos)
+        self.sub = self.create_subscription(
+            Bool,
+            "/some_topic",
+            self.my_callback,
+            qos,
+        )
+
+    def my_callback(self, msg: Bool):
+        self.get_logger().info("Received: {}".format(msg.data))
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = SubNode()
+
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()