add C++ version of default action qos

Signed-off-by: William Woodall <[email protected]>

rclcpp_action/CMakeLists.txt

@@ -20,6 +20,7 @@ include_directories(include)
 
 set(${PROJECT_NAME}_SRCS
   src/client.cpp
+  src/qos.cpp
   src/server.cpp
   src/server_goal_handle.cpp
   src/types.cpp

rclcpp_action/include/rclcpp_action/qos.hpp

@@ -0,0 +1,31 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP_ACTION__QOS_HPP_
+#define RCLCPP_ACTION__QOS_HPP_
+
+#include <rclcpp/qos.hpp>
+
+namespace rclcpp_action
+{
+
+class DefaultActionStatusQoS : public rclcpp::QoS
+{
+public:
+  DefaultActionStatusQoS();
+};
+
+}  // namespace rclcpp_action
+
+#endif  // RCLCPP_ACTION__QOS_HPP_

rclcpp_action/src/qos.cpp

@@ -0,0 +1,28 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <rclcpp_action/qos.hpp>
+
+#include <rcl_action/default_qos.h>
+
+namespace rclcpp_action
+{
+
+DefaultActionStatusQoS::DefaultActionStatusQoS()
+: rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rcl_action_qos_profile_status_default))
+{
+  this->get_rmw_qos_profile() = rcl_action_qos_profile_status_default;
+}
+
+}  // namespace rclcpp_action

rclcpp_action/test/test_client.cpp

@@ -42,6 +42,7 @@
 #include "rclcpp_action/exceptions.hpp"
 #include "rclcpp_action/create_client.hpp"
 #include "rclcpp_action/client.hpp"
+#include "rclcpp_action/qos.hpp"
 #include "rclcpp_action/types.hpp"
 
 using namespace std::chrono_literals;
@@ -196,7 +197,8 @@ class TestClient : public ::testing::Test
     ret = rcl_action_get_feedback_topic_name(
       action_name, allocator, &feedback_topic_name);
     ASSERT_EQ(RCL_RET_OK, ret);
-    feedback_publisher = server_node->create_publisher<ActionFeedbackMessage>(feedback_topic_name);
+    feedback_publisher =
+      server_node->create_publisher<ActionFeedbackMessage>(feedback_topic_name, 10);
     ASSERT_TRUE(feedback_publisher != nullptr);
     allocator.deallocate(feedback_topic_name, allocator.state);
 
@@ -205,7 +207,7 @@ class TestClient : public ::testing::Test
       action_name, allocator, &status_topic_name);
     ASSERT_EQ(RCL_RET_OK, ret);
     status_publisher = server_node->create_publisher<ActionStatusMessage>(
-      status_topic_name, rcl_action_qos_profile_status_default);
+      status_topic_name, rclcpp_action::DefaultActionStatusQoS());
     ASSERT_TRUE(status_publisher != nullptr);
     allocator.deallocate(status_topic_name, allocator.state);
     server_executor.add_node(server_node);

rclcpp_action/test/test_server.cpp

@@ -367,7 +367,8 @@ TEST_F(TestServer, publish_status_accepted)
   // Subscribe to status messages
   std::vector<action_msgs::msg::GoalStatusArray::SharedPtr> received_msgs;
   auto subscriber = node->create_subscription<action_msgs::msg::GoalStatusArray>(
-    "fibonacci/_action/status", [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
+    "fibonacci/_action/status", 10,
+    [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
     {
       received_msgs.push_back(list);
     });
@@ -428,7 +429,8 @@ TEST_F(TestServer, publish_status_canceling)
   // Subscribe to status messages
   std::vector<action_msgs::msg::GoalStatusArray::SharedPtr> received_msgs;
   auto subscriber = node->create_subscription<action_msgs::msg::GoalStatusArray>(
-    "fibonacci/_action/status", [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
+    "fibonacci/_action/status", 10,
+    [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
     {
       received_msgs.push_back(list);
     });
@@ -483,7 +485,8 @@ TEST_F(TestServer, publish_status_canceled)
   // Subscribe to status messages
   std::vector<action_msgs::msg::GoalStatusArray::SharedPtr> received_msgs;
   auto subscriber = node->create_subscription<action_msgs::msg::GoalStatusArray>(
-    "fibonacci/_action/status", [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
+    "fibonacci/_action/status", 10,
+    [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
     {
       received_msgs.push_back(list);
     });
@@ -540,7 +543,8 @@ TEST_F(TestServer, publish_status_succeeded)
   // Subscribe to status messages
   std::vector<action_msgs::msg::GoalStatusArray::SharedPtr> received_msgs;
   auto subscriber = node->create_subscription<action_msgs::msg::GoalStatusArray>(
-    "fibonacci/_action/status", [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
+    "fibonacci/_action/status", 10,
+    [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
     {
       received_msgs.push_back(list);
     });
@@ -595,7 +599,8 @@ TEST_F(TestServer, publish_status_aborted)
   // Subscribe to status messages
   std::vector<action_msgs::msg::GoalStatusArray::SharedPtr> received_msgs;
   auto subscriber = node->create_subscription<action_msgs::msg::GoalStatusArray>(
-    "fibonacci/_action/status", [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
+    "fibonacci/_action/status", 10,
+    [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
     {
       received_msgs.push_back(list);
     });
@@ -651,7 +656,7 @@ TEST_F(TestServer, publish_feedback)
   using FeedbackT = Fibonacci::Impl::FeedbackMessage;
   std::vector<FeedbackT::SharedPtr> received_msgs;
   auto subscriber = node->create_subscription<FeedbackT>(
-    "fibonacci/_action/feedback", [&received_msgs](FeedbackT::SharedPtr msg)
+    "fibonacci/_action/feedback", 10, [&received_msgs](FeedbackT::SharedPtr msg)
     {
       received_msgs.push_back(msg);
     });