Rename rclpy.qos.QoS*Policy to rclpy.qos.*Policy (#1832) (#1841)

Signed-off-by: Christophe Bedard <[email protected]> (cherry picked from commit 786c3c4) Co-authored-by: Christophe Bedard <[email protected]>
ros2 · Oct 28, 2024 · e07248d · e07248d
1 parent 64717ee
commit e07248d
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Showing 2 changed files with 16 additions and 20 deletions.
diff --git a/ros2bag/ros2bag/api/__init__.py b/ros2bag/ros2bag/api/__init__.py
@@ -24,20 +24,20 @@
 from typing import Optional
 
 from rclpy.duration import Duration
-from rclpy.qos import QoSDurabilityPolicy
-from rclpy.qos import QoSHistoryPolicy
-from rclpy.qos import QoSLivelinessPolicy
+from rclpy.qos import DurabilityPolicy
+from rclpy.qos import HistoryPolicy
+from rclpy.qos import LivelinessPolicy
 from rclpy.qos import QoSProfile
-from rclpy.qos import QoSReliabilityPolicy
+from rclpy.qos import ReliabilityPolicy
 from ros2cli.entry_points import get_entry_points
 import rosbag2_py
 
 # This map needs to be updated when new policies are introduced
 _QOS_POLICY_FROM_SHORT_NAME = {
-    'history': QoSHistoryPolicy.get_from_short_key,
-    'reliability': QoSReliabilityPolicy.get_from_short_key,
-    'durability': QoSDurabilityPolicy.get_from_short_key,
-    'liveliness': QoSLivelinessPolicy.get_from_short_key
+    'history': HistoryPolicy.get_from_short_key,
+    'reliability': ReliabilityPolicy.get_from_short_key,
+    'durability': DurabilityPolicy.get_from_short_key,
+    'liveliness': LivelinessPolicy.get_from_short_key
 }
 _DURATION_KEYS = ['deadline', 'lifespan', 'liveliness_lease_duration']
 _VALUE_KEYS = ['depth', 'avoid_ros_namespace_conventions']

diff --git a/ros2bag/test/test_api.py b/ros2bag/test/test_api.py
@@ -14,9 +14,9 @@
 
 import unittest
 
-from rclpy.qos import QoSDurabilityPolicy
-from rclpy.qos import QoSHistoryPolicy
-from rclpy.qos import QoSReliabilityPolicy
+from rclpy.qos import DurabilityPolicy
+from rclpy.qos import HistoryPolicy
+from rclpy.qos import ReliabilityPolicy
 from ros2bag.api import convert_yaml_to_qos_profile
 from ros2bag.api import dict_to_duration
 from ros2bag.api import interpret_dict_as_qos_profile
@@ -38,7 +38,7 @@ def test_dict_to_duration_invalid(self):
     def test_interpret_dict_as_qos_profile_valid(self):
         qos_dict = {'history': 'keep_last', 'depth': 10}
         qos_profile = interpret_dict_as_qos_profile(qos_dict)
-        assert qos_profile.history == QoSHistoryPolicy.KEEP_LAST
+        assert qos_profile.history == HistoryPolicy.KEEP_LAST
         expected_seconds = 1
         expected_nanoseconds = int((expected_seconds * 1e9))
         qos_dict = {'history': 'keep_all', 'deadline': {'sec': expected_seconds, 'nsec': 0}}
@@ -65,15 +65,11 @@ def test_convert_yaml_to_qos_profile(self):
                 'history': 'keep_all', 'avoid_ros_namespace_conventions': expected_convention}
         }
         qos_profiles = convert_yaml_to_qos_profile(qos_dict)
-        assert qos_profiles[topic_name_1].durability == \
-            QoSDurabilityPolicy.VOLATILE
-        assert qos_profiles[topic_name_1].reliability == \
-            QoSReliabilityPolicy.RELIABLE
-        assert qos_profiles[topic_name_1].history == \
-            QoSHistoryPolicy.KEEP_ALL
+        assert qos_profiles[topic_name_1].durability == DurabilityPolicy.VOLATILE
+        assert qos_profiles[topic_name_1].reliability == ReliabilityPolicy.RELIABLE
+        assert qos_profiles[topic_name_1].history == HistoryPolicy.KEEP_ALL
         assert qos_profiles[topic_name_2].avoid_ros_namespace_conventions == expected_convention
-        assert qos_profiles[topic_name_2].history == \
-            QoSHistoryPolicy.KEEP_ALL
+        assert qos_profiles[topic_name_2].history == HistoryPolicy.KEEP_ALL
 
     def test_interpret_dict_as_qos_profile_negative(self):
         qos_dict = {'history': 'keep_all', 'depth': -1}