Enable QoS overrides by audrow · Pull Request #657 · cra-ros-pkg/robot_localization

audrow · 2021-04-29T18:48:52Z

This is adding QoS overrides, which were added in ros2/rclcpp#1408.

This PR relies on

Expose Subscription Options - V2 ros2/message_filters#56

Signed-off-by: Audrow Nash <audrow@hey.com>

audrow · 2021-05-19T17:53:58Z

@SteveMacenski, the required PR has been merged in. I believe this is ready to merge.

include/robot_localization/ros_robot_localization_listener.hpp

src/ros_filter.cpp

Signed-off-by: Audrow Nash <audrow@hey.com>

audrow · 2021-05-19T22:39:22Z

I'm now using rclcpp::QosOverridingOptions::with_default_policies(), which removes much duplication. It doesn't enable all of the QoS overrides, but after some discussion with the ROS 2 team, it was determined that not all the options are desirable: ros-perception/image_pipeline#651 (comment).

Signed-off-by: Audrow Nash <audrow@hey.com>

SteveMacenski · 2021-05-25T18:43:08Z

@audrow Some change here or in your message filters PR is failing to build robot_localization with galactic ros2/message_filters#56.

https://build.ros2.org/job/Gbin_uF64__robot_localization__ubuntu_focal_amd64__binary/7/console


23:08:22 /tmp/binarydeb/ros-galactic-robot-localization-3.2.2/src/ros_robot_localization_listener.cpp: In constructor ‘robot_localization::RosRobotLocalizationListener::RosRobotLocalizationListener(rclcpp::Node::SharedPtr, rclcpp::SubscriptionOptions)’:
23:08:31 /tmp/binarydeb/ros-galactic-robot-localization-3.2.2/src/ros_robot_localization_listener.cpp:90:26: error: no matching function for call to ‘message_filters::Subscriber<nav_msgs::msg::Odometry_<std::allocator<void> > >::Subscriber(rclcpp::Node::SharedPtr&, const char [14], rmw_qos_profile_t&, rclcpp::SubscriptionOptions&)’
23:08:31    90 |   tf_listener_(tf_buffer_)
23:08:31       |                          ^
23:08:31 In file included from /tmp/binarydeb/ros-galactic-robot-localization-3.2.2/include/robot_localization/ros_robot_localization_listener.hpp:37,
23:08:31                  from /tmp/binarydeb/ros-galactic-robot-localization-3.2.2/src/ros_robot_localization_listener.cpp:51:
23:08:31 /opt/ros/galactic/include/message_filters/subscriber.h:129:3: note: candidate: ‘message_filters::Subscriber<M>::Subscriber() [with M = nav_msgs::msg::Odometry_<std::allocator<void> >]’
23:08:31   129 |   Subscriber() = default;
23:08:31       |   ^~~~~~~~~~
23:08:31 /opt/ros/galactic/include/message_filters/subscriber.h:129:3: note:   candidate expects 0 arguments, 4 provided
23:08:31 /opt/ros/galactic/include/message_filters/subscriber.h:121:3: note: candidate: ‘message_filters::Subscriber<M>::Subscriber(rclcpp::Node*, const string&, rmw_qos_profile_t) [with M = nav_msgs::msg::Odometry_<std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_t]’
23:08:31   121 |   Subscriber(rclcpp::Node* node, const std::string& topic, const rmw_qos_profile_t qos = rmw_qos_profile_default)
23:08:31       |   ^~~~~~~~~~
23:08:31 /opt/ros/galactic/include/message_filters/subscriber.h:121:3: note:   candidate expects 3 arguments, 4 provided
23:08:31 /opt/ros/galactic/include/message_filters/subscriber.h:116:3: note: candidate: ‘message_filters::Subscriber<M>::Subscriber(rclcpp::Node::SharedPtr, const string&, rmw_qos_profile_t) [with M = nav_msgs::msg::Odometry_<std::allocator<void> >; rclcpp::Node::SharedPtr = std::shared_ptr<rclcpp::Node>; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_t]’
23:08:31   116 |   Subscriber(rclcpp::Node::SharedPtr node, const std::string& topic, const rmw_qos_profile_t qos = rmw_qos_profile_default)
23:08:31       |   ^~~~~~~~~~
23:08:31 /opt/ros/galactic/include/message_filters/subscriber.h:116:3: note:   candidate expects 3 arguments, 4 provided
23:08:31 /tmp/binarydeb/ros-galactic-robot-localization-3.2.2/src/ros_robot_localization_listener.cpp:90:26: error: no matching function for call to ‘message_filters::Subscriber<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >::Subscriber(rclcpp::Node::SharedPtr&, const char [22], rmw_qos_profile_t&, rclcpp::SubscriptionOptions&)’
23:08:31    90 |   tf_listener_(tf_buffer_)
23:08:31       |                          ^
23:08:31 In file included from /tmp/binarydeb/ros-galactic-robot-localization-3.2.2/include/robot_localization/ros_robot_localization_listener.hpp:37,
23:08:31                  from /tmp/binarydeb/ros-galactic-robot-localization-3.2.2/src/ros_robot_localization_listener.cpp:51:
23:08:31 /opt/ros/galactic/include/message_filters/subscriber.h:129:3: note: candidate: ‘message_filters::Subscriber<M>::Subscriber() [with M = geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >]’
23:08:31   129 |   Subscriber() = default;
23:08:31       |   ^~~~~~~~~~
23:08:31 /opt/ros/galactic/include/message_filters/subscriber.h:129:3: note:   candidate expects 0 arguments, 4 provided
23:08:31 /opt/ros/galactic/include/message_filters/subscriber.h:121:3: note: candidate: ‘message_filters::Subscriber<M>::Subscriber(rclcpp::Node*, const string&, rmw_qos_profile_t) [with M = geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_t]’
23:08:31   121 |   Subscriber(rclcpp::Node* node, const std::string& topic, const rmw_qos_profile_t qos = rmw_qos_profile_default)
23:08:31       |   ^~~~~~~~~~
23:08:31 /opt/ros/galactic/include/message_filters/subscriber.h:121:3: note:   candidate expects 3 arguments, 4 provided
23:08:31 /opt/ros/galactic/include/message_filters/subscriber.h:116:3: note: candidate: ‘message_filters::Subscriber<M>::Subscriber(rclcpp::Node::SharedPtr, const string&, rmw_qos_profile_t) [with M = geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >; rclcpp::Node::SharedPtr = std::shared_ptr<rclcpp::Node>; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_t]’
23:08:31   116 |   Subscriber(rclcpp::Node::SharedPtr node, const std::string& topic, const rmw_qos_profile_t qos = rmw_qos_profile_default)
23:08:31       |   ^~~~~~~~~~

Is this something you can patch? It looks like you may have removed (?) the default constructor

audrow · 2021-05-25T20:24:35Z

Hey @SteveMacenski, I believe that this is because the message filters PR didn't get into Galactic (it was done after the freeze). I'll ask the ROS boss what to do.

audrow · 2021-05-25T20:43:14Z

Since the change wasn't meant to make it in Galactic, I made a PR reverting the change on the galactic branch: #670.

* Remove try-catch blocks around declare_parameter (#663) Try-catches were added in #631 due to a new rclcpp feature enforcing static parameter. The behavior was later patched for this particular use-case in ros2/rclcpp#1673, so now we can avoid having to try-catch. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add missing message_filters dependency (#666) Headers from message_filters are included here: https://github.com/cra-ros-pkg/robot_localization/blob/67098c2341b5d1ccbcceb8eede60e79db74814a6/include/robot_localization/ros_robot_localization_listener.h\#L41-L42 Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Revert "Enable QoS overrides (#657)" This reverts commit 2816e92. Co-authored-by: Jacob Perron <jacob@openrobotics.org>

Enable QoS overrides

6f7e02c

Signed-off-by: Audrow Nash <audrow@hey.com>

audrow marked this pull request as ready for review April 29, 2021 18:49

SteveMacenski approved these changes Apr 29, 2021

View reviewed changes

Use SubscriptionOptions

d448e67

Signed-off-by: Audrow Nash <audrow@hey.com>

SteveMacenski requested changes May 19, 2021

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include/robot_localization/ros_robot_localization_listener.hpp Outdated Show resolved Hide resolved

src/ros_filter.cpp Outdated Show resolved Hide resolved

Use with_default_policies

0468fd0

Signed-off-by: Audrow Nash <audrow@hey.com>

audrow requested a review from SteveMacenski May 19, 2021 22:39

paudrow added 2 commits May 19, 2021 15:45

Use with_default_policies in ros_filter

7f17ef9

Signed-off-by: Audrow Nash <audrow@hey.com>

Improve formatting

dce0fa5

Signed-off-by: Audrow Nash <audrow@hey.com>

SteveMacenski approved these changes May 20, 2021

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SteveMacenski merged commit 2816e92 into cra-ros-pkg:ros2 May 20, 2021

audrow deleted the audrow/add-qos-overrides branch May 20, 2021 16:13

sloretz mentioned this pull request Oct 7, 2021

Change joint_states subscription to SensorDataQoS ros/robot_state_publisher#177

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Enable QoS overrides#657

Enable QoS overrides#657
SteveMacenski merged 5 commits intocra-ros-pkg:ros2from
audrow:audrow/add-qos-overrides

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