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Move the QoS detection code to a more central place #601
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I absolutely agree in the usefulness of this functionality ( I believe that I would love to get this done in time for Galactic, but I'm not able to commit to that timeline today. |
That all sounds good, thanks @emersonknapp . This came up in the context of ros2/ros1_bridge#304 ; it isn't really required to fix that issue, but it could help. So from my end, there is no immediate need, it would just be nice to have it available. |
This functionality should certainly be moved to a common place. I think at least it should live in |
Description
rosbag2 currently has the ability to automatically detect the QoS of publishers and set itself up to successfully receive data from them. It looks like this went in via the following issue: #125 . Also, it looks like the core code that implements this is here and here.
This is a great capability that has applicability outside of rosbag2. At least the following two other use cases have come up:
There may be other uses.
The idea here would be to take that
Rosbag2QoS
class (and any supporting infrastructure), rename it, and move it into a more central location (probablyrclcpp
, though we may want to consider putting it in thercl
layer so other client libraries have access to it).Related Issues
#125
Completion Criteria
Rosbag2QoS
class to a central locationRosbag2QoS
to a central locationTesting Notes / Suggestions
Unit tests already exist for this, so making sure those unit tests continue to run. Also making sure that rosbag2 continues to operate as expected.
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