Quality of Service

class rclpy.qos.DurabilityPolicy

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_UNKNOWN = 3

RMW_QOS_POLICY_DURABILITY_VOLATILE = 2

SYSTEM_DEFAULT = 0

TRANSIENT_LOCAL = 1

UNKNOWN = 3

VOLATILE = 2

class rclpy.qos.HistoryPolicy

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

RMW_QOS_POLICY_HISTORY_UNKNOWN = 3

SYSTEM_DEFAULT = 0

UNKNOWN = 3

exception rclpy.qos.InvalidQoSProfileException(*args)

Raised when constructing a QoSProfile with invalid arguments.

class rclpy.qos.LivelinessPolicy

Enum for QoS Liveliness settings.

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

AUTOMATIC = 1

MANUAL_BY_TOPIC = 3

RMW_QOS_POLICY_LIVELINESS_AUTOMATIC = 1

RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC = 3

RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT = 0

RMW_QOS_POLICY_LIVELINESS_UNKNOWN = 4

SYSTEM_DEFAULT = 0

UNKNOWN = 4

rclpy.qos.QoSDurabilityPolicy

alias of rclpy.qos.DurabilityPolicy

rclpy.qos.QoSHistoryPolicy

alias of rclpy.qos.HistoryPolicy

rclpy.qos.QoSLivelinessPolicy

alias of rclpy.qos.LivelinessPolicy

class rclpy.qos.QoSPolicyEnum

Base for QoS Policy enumerations.

Provides helper function to filter keys for utilities.

classmethod get_from_short_key(name)

Retrieve a policy type from a short name, case-insensitive.

property short_key

classmethod short_keys()

Return a list of shortened typing-friendly enum values.

class rclpy.qos.QoSPolicyKind

Enum for types of QoS policies that a Publisher or Subscription can set.

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

DEADLINE = 4

DURABILITY = 2

HISTORY = 32

INVALID = 1

LIFESPAN = 64

LIVELINESS = 8

RELIABILITY = 16

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>

UNKNOWN = <rclpy.qos.QoSProfile object>

classmethod get_from_short_key(name)

Retrieve a policy type from a short name, case-insensitive.

classmethod short_keys()

Return a list of shortened typing-friendly enum values.

class rclpy.qos.QoSProfile(**kwargs)

Define Quality of Service policies.

property avoid_ros_namespace_conventions

Get field ‘avoid_ros_namespace_conventions’.

Returns

avoid_ros_namespace_conventions attribute

Return type

bool

property deadline

Get field ‘deadline’.

Returns

deadline attribute.

Return type

Duration

property depth

Get field ‘depth’.

Returns

depth attribute

Return type

int

property durability

Get field ‘durability’.

Returns

durability attribute

Return type

QoSDurabilityPolicy

get_c_qos_profile()

property history

Get field ‘history’.

Returns

history attribute

Return type

QoSHistoryPolicy

property lifespan

Get field ‘lifespan’.

Returns

lifespan attribute

Return type

Duration

property liveliness

Get field ‘liveliness’.

Returns

liveliness attribute

Return type

QoSLivelinessPolicy

property liveliness_lease_duration

Get field ‘liveliness_lease_duration’.

Returns

liveliness_lease_duration attribute.

Return type

Duration

property reliability

Get field ‘reliability’.

Returns

reliability attribute

Return type

QoSReliabilityPolicy

rclpy.qos.QoSReliabilityPolicy

alias of rclpy.qos.ReliabilityPolicy

class rclpy.qos.ReliabilityPolicy

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

RMW_QOS_POLICY_RELIABILITY_UNKNOWN = 3

SYSTEM_DEFAULT = 0

UNKNOWN = 3

rclpy.qos.qos_policy_name_from_kind(policy_kind)

Get QoS policy name from QoSPolicyKind enum.