Subscribe to topics using the common offered QoS #343
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…th sufficient warning in the cases where we can't Signed-off-by: Emerson Knapp <[email protected]>
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Signed-off-by: Emerson Knapp <[email protected]>
Signed-off-by: Emerson Knapp <[email protected]>
…te with a default Signed-off-by: Emerson Knapp <[email protected]>
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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]>
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Signed-off-by: Emerson Knapp <[email protected]>
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Part of #125
Moves https://github.com/ros-tooling/aws-roadmap/issues/216 to Done
Subscribe to topics using the common offered QoS if there is one, with sufficient warning in the cases where we can't.
As we discussed in the original design, we will not try to resolve compatibility at all. So, if all publishers at the time of subscription offer the same QoS profile (likely vast majority of cases), then that profile will be used to subscribe.
However, if there are different profiles being offered for a topic, fallback to the preexisting default. This means rosbag2 acts the same for these cases as it does before this PR. But, now we print a warning about it.
If new publishers join after our subscription was created, and they offer a different QoS profile than we used to subscribe, also print a warning about that case because it may result in loss of data.
Signed-off-by: Emerson Knapp [email protected]