qos.hpp

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/*
 * Copyright (c) 2019, Open Source Robotics Foundation, Inc.
 * All rights reserved.
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#ifndef TF2_ROS__QOS_HPP_
#define TF2_ROS__QOS_HPP_
 
#include <rclcpp/qos.hpp>
#include <tf2_ros/visibility_control.h>
 
namespace tf2_ros
{
 
class TF2_ROS_PUBLIC DynamicListenerQoS : public rclcpp::QoS
{
public:
  explicit DynamicListenerQoS(size_t depth = 100)
  : rclcpp::QoS(depth) {}
};
 
class TF2_ROS_PUBLIC DynamicBroadcasterQoS : public rclcpp::QoS
{
public:
  explicit DynamicBroadcasterQoS(size_t depth = 100)
  : rclcpp::QoS(depth) {}
};
 
class TF2_ROS_PUBLIC StaticListenerQoS : public rclcpp::QoS
{
public:
  explicit StaticListenerQoS(size_t depth = 100)
  : rclcpp::QoS(depth)
  {
    transient_local();
  }
};
 
class TF2_ROS_PUBLIC StaticBroadcasterQoS : public rclcpp::QoS
{
public:
  explicit StaticBroadcasterQoS(size_t depth = 1)
  : rclcpp::QoS(depth)
  {
    transient_local();
  }
};
}  // namespace tf2_ros
 
#endif  // TF2_ROS__QOS_HPP_