use the param profile for param services - #236
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The patch lgtm. It would be straight forward to expose the QoS profile as an optional argument. That could happen as part of this PR which would also avoid having to hard code this value in 11 locations. |
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Good idea: d91b4f1.
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The Linux failures are known problems. The OSX failures seem to be mostly known, but I'm not sure about the Also, any comments on the new API that I exposed in d91b4f1? |
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The added optional parameter looks good to me. |
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After review, my opinion is that the failing tests are all the result of known issues, including flaky tests, so I'm going to merge. |
Karsten1987
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* use the param profile for param services * expose qos to users of param clients / services
nnmm
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Jul 9, 2022
* Implement a basic YAML based parameter parser for ros2 nodes * Add README file * Fix the issues after moving from rcutils_yaml_param_parser to rcl_yaml_param_parser - rename folders from rcutils_yaml_param_parser to rcl_yaml_param_parser - rename project, header guards and include statements from rcutils_yaml_param_parser to rcl_yaml_param_parser - move type declaration in separat file and namespace new structures - Fix the code review comments from Mikael * Few minor changes - Changed "params" string to "ros__parameters" - Add -Wall, -Wextra and -Wpedantic falgs - Fix the compile warning with the new flags * Fix the changes made in the design of C structure - Remove the node_namespaces entry in rcl_params_t - Change the type of num_nodes and num_params to size_t * depend on libyaml_vendor (ros2#236) * Fix cmake setting standard(C and C++) and add byte_array in C struct * Remove C11 so that it defaults to C99 * [rcl_yaml_param_parser] fix export symbols (ros2#237) * add visibility macros * remove unused macro * Support for multi level node and parameter name spaces * Additional fixes and cleanups - Support for string namespace seperator - Provide parameter structure init function API - name cleanups * off by 1 * Call yaml_parser_delete() * fclose(yaml_file) * free() allocated paths * Call yaml_event_delete() * completely deallcoate string array * Few cleanup changes - Add install command into CMakelists.txt - Replace one of the zero_allocate with reallocate - Pass allocator state - Fix int32_t -> rcl_ret_t return value * Don't include unistd.h * Use size_t for array indices * Just pass the allocator in the init function
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We have a parameter qos profile (https://github.com/ros2/rmw/blob/master/rmw/include/rmw/qos_profiles.h#L33-L39), but we're not using it in the param service or client creation. This PR uses it.
A future extension to consider would be exposing the qos setting through the parameter service/client creation API, to allow the user to change it.
(This came up while working on ros2/rmw_fastrtps#46, wherein it was identified that the history depth was too shallow.)