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Allow custom QoS settings for pub/sub factories #162

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merged 1 commit into from
Feb 7, 2019
Merged

Allow custom QoS settings for pub/sub factories #162

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27 changes: 24 additions & 3 deletions include/ros1_bridge/factory.hpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -45,9 +45,10 @@ class Factory : public FactoryInterface
create_ros1_publisher(
ros::NodeHandle node,
const std::string & topic_name,
size_t queue_size)
size_t queue_size,
bool latch = false)
{
return node.advertise<ROS1_T>(topic_name, queue_size);
return node.advertise<ROS1_T>(topic_name, queue_size, latch);
}

rclcpp::PublisherBase::SharedPtr
Expand All @@ -61,6 +62,15 @@ class Factory : public FactoryInterface
return node->create_publisher<ROS2_T>(topic_name, custom_qos_profile);
}

rclcpp::PublisherBase::SharedPtr
create_ros2_publisher(
rclcpp::Node::SharedPtr node,
const std::string & topic_name,
const rmw_qos_profile_t & qos_profile)
{
return node->create_publisher<ROS2_T>(topic_name, qos_profile);
}

ros::Subscriber
create_ros1_subscriber(
ros::NodeHandle node,
Expand Down Expand Up @@ -92,6 +102,17 @@ class Factory : public FactoryInterface
{
rmw_qos_profile_t custom_qos_profile = rmw_qos_profile_sensor_data;
custom_qos_profile.depth = queue_size;
return create_ros2_subscriber(node, topic_name, custom_qos_profile, ros1_pub, ros2_pub);
}

rclcpp::SubscriptionBase::SharedPtr
create_ros2_subscriber(
rclcpp::Node::SharedPtr node,
const std::string & topic_name,
const rmw_qos_profile_t & qos,
ros::Publisher ros1_pub,
rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr)
{
const std::string & ros1_type_name = ros1_type_name_;
const std::string & ros2_type_name = ros2_type_name_;
// TODO(wjwwood): use a lambda until create_subscription supports std/boost::bind.
Expand All @@ -102,7 +123,7 @@ class Factory : public FactoryInterface
msg, msg_info, ros1_pub, ros1_type_name, ros2_type_name, ros2_pub);
};
return node->create_subscription<ROS2_T>(
topic_name, callback, custom_qos_profile, nullptr, true);
topic_name, callback, qos, nullptr, true);
}

void convert_1_to_2(const void * ros1_msg, void * ros2_msg) override
Expand Down
21 changes: 19 additions & 2 deletions include/ros1_bridge/factory_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,8 @@ class FactoryInterface
create_ros1_publisher(
ros::NodeHandle node,
const std::string & topic_name,
size_t queue_size) = 0;
size_t queue_size,
bool latch = false) = 0;

virtual
rclcpp::PublisherBase::SharedPtr
Expand All @@ -59,6 +60,13 @@ class FactoryInterface
const std::string & topic_name,
size_t queue_size) = 0;

virtual
rclcpp::PublisherBase::SharedPtr
create_ros2_publisher(
rclcpp::Node::SharedPtr node,
const std::string & topic_name,
const rmw_qos_profile_t & qos_profile) = 0;

virtual
ros::Subscriber
create_ros1_subscriber(
Expand All @@ -74,7 +82,16 @@ class FactoryInterface
const std::string & topic_name,
size_t queue_size,
ros::Publisher ros1_pub,
rclcpp::PublisherBase::SharedPtr ros2_pub) = 0;
rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr) = 0;

virtual
rclcpp::SubscriptionBase::SharedPtr
create_ros2_subscriber(
rclcpp::Node::SharedPtr node,
const std::string & topic_name,
const rmw_qos_profile_t & qos_profile,
ros::Publisher ros1_pub,
rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr) = 0;

virtual
void
Expand Down