Options that are passed in subscription/publisher constructor to specify QoSConfigurability. More...

#include <qos_overriding_options.hpp>

Public Member Functions
	QosOverridingOptions ()=default
	Default constructor, no overrides allowed. More...

	QosOverridingOptions (std::initializer_list< QosPolicyKind > policy_kinds, QosCallback validation_callback=nullptr, std::string id={})
	Construct passing a list of QoS policies and a verification callback. More...

const std::string &	get_id () const

const std::vector< QosPolicyKind > &	get_policy_kinds () const

const QosCallback &	get_validation_callback () const

Static Public Member Functions
static QosOverridingOptions	with_default_policies (QosCallback validation_callback=nullptr, std::string id={})
	Construct passing a list of QoS policies and a verification callback. More...

Detailed Description

Options that are passed in subscription/publisher constructor to specify QoSConfigurability.

This options struct allows configuring:

Which policy kinds will have declared parameters.
An optional callback, that will be called to validate the final qos profile.
An optional id. In the case that different qos are desired for two publishers/subscriptions in the same topic, this id will allow disambiguating them.

Example parameter file:

my_node_name:
 ros__parameters:
   qos_overrides:
     /my/topic/name:
       publisher:  # publisher without provided id
         reliability: reliable
         depth: 100
       publisher_my_id:  # publisher with `id="my_id"
         reliability: reliable
         depth: 10

Constructor & Destructor Documentation

◆ QosOverridingOptions() [1/2]

rclcpp::QosOverridingOptions::QosOverridingOptions ( )

default

Default constructor, no overrides allowed.

◆ QosOverridingOptions() [2/2]

rclcpp::QosOverridingOptions::QosOverridingOptions	(	std::initializer_list< QosPolicyKind >	policy_kinds,
		QosCallback	validation_callback = `nullptr`,
		std::string	id = `{}`
	)

Construct passing a list of QoS policies and a verification callback.

This constructor is implicit, e.g.:

node->create_publisher(
  "topic_name",
  default_qos_profile,
  {
    {QosPolicyKind::Reliability},
    [] (auto && qos) {return check_qos_validity(qos)},
    "my_id"
  });

Parameters

policy_kinds	list of policy kinds that will be reconfigurable.
validation_callback	callbak that will be called to validate the validity of the qos profile set by the user.
id	id of the entity.

Member Function Documentation

◆ get_id()

const std::string& rclcpp::QosOverridingOptions::get_id ( ) const

◆ get_policy_kinds()

const std::vector<QosPolicyKind>& rclcpp::QosOverridingOptions::get_policy_kinds ( ) const

◆ get_validation_callback()

const QosCallback& rclcpp::QosOverridingOptions::get_validation_callback ( ) const

◆ with_default_policies()

static QosOverridingOptions rclcpp::QosOverridingOptions::with_default_policies	(	QosCallback	validation_callback = `nullptr`,
		std::string	id = `{}`
	)

static

Construct passing a list of QoS policies and a verification callback.

Same as QosOverridingOptions constructor, but only declares the default policies:

History, Depth, Reliability.

The documentation for this class was generated from the following file:

include/rclcpp/qos_overriding_options.hpp

Public Member Functions

Static Public Member Functions