Query offered QoS profiles for a topic and store in metadata #333
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Signed-off-by: Emerson Knapp <[email protected]>
Signed-off-by: Emerson Knapp <[email protected]>
zmichaels11
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Signed-off-by: Emerson Knapp <[email protected]>
Signed-off-by: Emerson Knapp <[email protected]>
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Signed-off-by: Emerson Knapp <[email protected]>
zmichaels11
approved these changes
Mar 27, 2020
piraka9011
approved these changes
Mar 27, 2020
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@Karsten1987 ping for monday review :) I put more detail on the description for this one. |
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@emersonknapp - please run this CI job |
The warnings in OSX are from rclcpp, unrelated to this change. |
This was referenced Mar 30, 2020
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Part of #125
Moves https://github.com/ros-tooling/aws-roadmap/issues/215 to Done
This change queries the currently offered QoS profiles for a given topic at the time of subscription, and stores them in the TopicMetadata. This does not use the queried QoS profile in any way, just stores it.
With this in, you will see the string-serialized profiles in both the metadata.yaml file and the sqlite topics table.
This does not handle new publishers that join after subscribing to a topic. We do not currently have a mechanism to change TopicMetadata after initial creation, and do not plan to add this ability for Foxy.
Once we have used the queried QoS profile to subscribe (upcoming change), we will need to make sure to notice late-joining publishers that offer a different QoS profile than we used to subscribe, to warn the user that this has happened.