add QoS Profile/Depth support to Node.

rclpy/rclpy/__init__.py

@@ -45,9 +45,12 @@
 from typing import Optional
 from typing import Type
 from typing import TYPE_CHECKING
+from typing import Union
 
 from rclpy.context import Context
 from rclpy.parameter import Parameter
+from rclpy.qos import qos_profile_system_default
+from rclpy.qos import QoSProfile
 from rclpy.signals import install_signal_handlers
 from rclpy.signals import SignalHandlerOptions
 from rclpy.signals import uninstall_signal_handlers
@@ -214,6 +217,7 @@ def create_node(
     namespace: Optional[str] = None,
     use_global_arguments: bool = True,
     enable_rosout: bool = True,
+    rosout_qos_profile: Optional[Union[QoSProfile, int]] = qos_profile_system_default,
     start_parameter_services: bool = True,
     parameter_overrides: Optional[List[Parameter]] = None,
     allow_undeclared_parameters: bool = False,
@@ -233,6 +237,10 @@ def create_node(
     :param use_global_arguments: ``False`` if the node should ignore process-wide command line
         arguments.
     :param enable_rosout: ``False`` if the node should ignore rosout logging.
+    :param rosout_qos_profile: A QoSProfile or a history depth to apply to rosout publisher.
+        In the case that a history depth is provided, the QoS history is set to KEEP_LAST,
+        the QoS history depth is set to the value of the parameter,
+        and all other QoS settings are set to their default values.
     :param start_parameter_services: ``False`` if the node should not create parameter services.
     :param parameter_overrides: A list of :class:`.Parameter` which are used to override the
         initial values of parameters declared on this node.
@@ -251,6 +259,7 @@ def create_node(
         node_name, context=context, cli_args=cli_args, namespace=namespace,
         use_global_arguments=use_global_arguments,
         enable_rosout=enable_rosout,
+        rosout_qos_profile=rosout_qos_profile,
         start_parameter_services=start_parameter_services,
         parameter_overrides=parameter_overrides,
         allow_undeclared_parameters=allow_undeclared_parameters,

rclpy/rclpy/node.py

@@ -74,6 +74,7 @@
 from rclpy.publisher import Publisher
 from rclpy.qos import qos_profile_parameter_events
 from rclpy.qos import qos_profile_services_default
+from rclpy.qos import qos_profile_system_default
 from rclpy.qos import QoSProfile
 from rclpy.qos_overriding_options import _declare_qos_parameters
 from rclpy.qos_overriding_options import QoSOverridingOptions
@@ -137,6 +138,7 @@ def __init__(
         namespace: Optional[str] = None,
         use_global_arguments: bool = True,
         enable_rosout: bool = True,
+        rosout_qos_profile: Optional[Union[QoSProfile, int]] = qos_profile_system_default,
         start_parameter_services: bool = True,
         parameter_overrides: Optional[List[Parameter[Any]]] = None,
         allow_undeclared_parameters: bool = False,
@@ -157,6 +159,10 @@ def __init__(
         :param use_global_arguments: ``False`` if the node should ignore process-wide command line
             args.
         :param enable_rosout: ``False`` if the node should ignore rosout logging.
+        :param rosout_qos_profile: A QoSProfile or a history depth to apply to rosout publisher.
+            In the case that a history depth is provided, the QoS history is set to KEEP_LAST
+            the QoS history depth is set to the value of the parameter,
+            and all other QoS settings are set to their default value.
         :param start_parameter_services: ``False`` if the node should not create parameter
             services.
         :param parameter_overrides: A list of overrides for initial values for parameters declared
@@ -194,6 +200,8 @@ def __init__(
         if self._context.handle is None or not self._context.ok():
             raise NotInitializedException('cannot create node')
 
+        rosout_qos_profile = self._validate_qos_or_depth_parameter(rosout_qos_profile)
+
         with self._context.handle:
             try:
                 self.__node = _rclpy.Node(
@@ -202,7 +210,8 @@ def __init__(
                     self._context.handle,
                     cli_args,
                     use_global_arguments,
-                    enable_rosout
+                    enable_rosout,
+                    rosout_qos_profile.get_c_qos_profile()
                 )
             except ValueError:
                 # these will raise more specific errors if the name or namespace is bad

rclpy/src/rclpy/node.cpp

@@ -408,7 +408,8 @@ Node::Node(
   Context & context,
   py::object pycli_args,
   bool use_global_arguments,
-  bool enable_rosout)
+  bool enable_rosout,
+  py::object rosout_qos_profile)
 : context_(context)
 {
   rcl_ret_t ret;
@@ -500,6 +501,10 @@ Node::Node(
   options.arguments = arguments;
   options.enable_rosout = enable_rosout;
 
+  if (!rosout_qos_profile.is_none()) {
+    options.rosout_qos = rosout_qos_profile.cast<rmw_qos_profile_t>();
+  }
+
   ret = rcl_node_init(
     rcl_node_.get(), node_name, namespace_, context.rcl_ptr(), &options);
 
@@ -581,7 +586,7 @@ void
 define_node(py::object module)
 {
   py::class_<Node, Destroyable, std::shared_ptr<Node>>(module, "Node")
-  .def(py::init<const char *, const char *, Context &, py::object, bool, bool>())
+  .def(py::init<const char *, const char *, Context &, py::object, bool, bool, py::object>())
   .def_property_readonly(
     "pointer", [](const Node & node) {
       return reinterpret_cast<size_t>(node.rcl_ptr());

rclpy/src/rclpy/node.hpp

@@ -45,14 +45,16 @@ class Node : public Destroyable, public std::enable_shared_from_this<Node>
    * \param[in] pycli_args a sequence of command line arguments for just this node, or None
    * \param[in] use_global_arguments if true then the node will also use cli arguments on context
    * \param[in] enable rosout if true then enable rosout logging
+   * \param[in] rosout_qos_profile rmw_qos_profile_t object for rosout publisher.
    */
   Node(
     const char * node_name,
     const char * namespace_,
     Context & context,
     py::object pycli_args,
     bool use_global_arguments,
-    bool enable_rosout);
+    bool enable_rosout,
+    py::object rosout_qos_profile);
 
   /// Get the fully qualified name of the node.
   /**

rclpy/test/test_create_node.py

@@ -19,6 +19,7 @@
 from rclpy.exceptions import InvalidNamespaceException
 from rclpy.exceptions import InvalidNodeNameException
 from rclpy.parameter import Parameter
+from rclpy.qos import qos_profile_sensor_data
 
 
 class TestCreateNode(unittest.TestCase):
@@ -82,6 +83,29 @@ def test_create_node_with_parameter_overrides(self):
             ]
         ).destroy_node()
 
+    def test_create_node_disable_rosout(self):
+        node_name = 'create_node_test_disable_rosout'
+        namespace = '/ns'
+        node = rclpy.create_node(
+            node_name, namespace=namespace, context=self.context, enable_rosout=False)
+        node.destroy_node()
+
+    def test_create_node_rosout_qos_profile(self):
+        node_name = 'create_node_test_rosout_rosout_qos_profile'
+        namespace = '/ns'
+        node = rclpy.create_node(
+            node_name, namespace=namespace, context=self.context, enable_rosout=True,
+            rosout_qos_profile=qos_profile_sensor_data)
+        node.destroy_node()
+
+    def test_create_node_rosout_qos_depth(self):
+        node_name = 'create_node_test_rosout_rosout_qos_depth'
+        namespace = '/ns'
+        node = rclpy.create_node(
+            node_name, namespace=namespace, context=self.context, enable_rosout=True,
+            rosout_qos_profile=10)
+        node.destroy_node()
+
 
 if __name__ == '__main__':
     unittest.main()