Quality of Service

class rclpy.qos.DeprecatedQoSProfile(qos_profile, profile_name)
class rclpy.qos.QoSDurabilityPolicy

Enum for QoS Durability settings.

This enum matches the one defined in rmw/types.h

RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT = 0
RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL = 1
RMW_QOS_POLICY_DURABILITY_VOLATILE = 2
SYSTEM_DEFAULT = 0
TRANSIENT_LOCAL = 1
VOLATILE = 2
class rclpy.qos.QoSHistoryPolicy

Enum for QoS History settings.

This enum matches the one defined in rmw/types.h

KEEP_ALL = 2
KEEP_LAST = 1
RMW_QOS_POLICY_HISTORY_KEEP_ALL = 2
RMW_QOS_POLICY_HISTORY_KEEP_LAST = 1
RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT = 0
SYSTEM_DEFAULT = 0
class rclpy.qos.QoSLivelinessPolicy

Enum for QoS Liveliness settings.

This enum matches the one defined in rmw/types.h

AUTOMATIC = 1
MANUAL_BY_NODE = 2
MANUAL_BY_TOPIC = 3
RMW_QOS_POLICY_LIVELINESS_AUTOMATIC = 1
RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE = 2
RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC = 3
RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT = 0
SYSTEM_DEFAULT = 0
class rclpy.qos.QoSPolicyEnum

Base for QoS Policy enumerations.

Provides helper function to filter keys for utilities.

get_from_short_key = <bound method QoSPolicyEnum.get_from_short_key of <enum 'QoSPolicyEnum'>>
short_keys = <bound method QoSPolicyEnum.short_keys of <enum 'QoSPolicyEnum'>>
class rclpy.qos.QoSPresetProfiles

An enumeration.

ACTION_STATUS_DEFAULT = <rclpy.qos.QoSProfile object>

Noted that the following are duplicated from QoSPolicyEnum.

Our supported version of Python3 (3.5) doesn’t have a fix that allows mixins on Enum.

PARAMETERS = <rclpy.qos.QoSProfile object>
PARAMETER_EVENTS = <rclpy.qos.QoSProfile object>
SENSOR_DATA = <rclpy.qos.QoSProfile object>
SERVICES_DEFAULT = <rclpy.qos.QoSProfile object>
SYSTEM_DEFAULT = <rclpy.qos.QoSProfile object>
get_from_short_key = <bound method QoSPresetProfiles.get_from_short_key of <enum 'QoSPresetProfiles'>>
short_keys = <bound method QoSPresetProfiles.short_keys of <enum 'QoSPresetProfiles'>>
class rclpy.qos.QoSProfile(**kwargs)

Define Quality of Service policies.

avoid_ros_namespace_conventions

Get field ‘avoid_ros_namespace_conventions’.

Returns:avoid_ros_namespace_conventions attribute
Return type:bool
deadline

Get field ‘deadline’.

Returns:deadline attribute.
Return type:Duration
depth

Get field ‘depth’.

Returns:depth attribute
Return type:int
durability

Get field ‘durability’.

Returns:durability attribute
Return type:QoSDurabilityPolicy
get_c_qos_profile()
history

Get field ‘history’.

Returns:history attribute
Return type:QoSHistoryPolicy
lifespan

Get field ‘lifespan’.

Returns:lifespan attribute
Return type:Duration
liveliness

Get field ‘liveliness’.

Returns:liveliness attribute
Return type:QoSLivelinessPolicy
liveliness_lease_duration

Get field ‘liveliness_lease_duration’.

Returns:liveliness_lease_duration attribute.
Return type:Duration
reliability

Get field ‘reliability’.

Returns:reliability attribute
Return type:QoSReliabilityPolicy
class rclpy.qos.QoSReliabilityPolicy

Enum for QoS Reliability settings.

This enum matches the one defined in rmw/types.h

BEST_EFFORT = 2
RELIABLE = 1
RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT = 2
RMW_QOS_POLICY_RELIABILITY_RELIABLE = 1
RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT = 0
SYSTEM_DEFAULT = 0