Expose subscription options#186
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jacobperron merged 7 commits intoros-perception:ros2from May 19, 2021
audrow:audrow/expose-options-to-subscription-with-void-allocator
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Expose subscription options#186jacobperron merged 7 commits intoros-perception:ros2from audrow:audrow/expose-options-to-subscription-with-void-allocator
jacobperron merged 7 commits intoros-perception:ros2from
audrow:audrow/expose-options-to-subscription-with-void-allocator
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Signed-off-by: Audrow Nash <audrow@hey.com>
Signed-off-by: Audrow Nash <audrow@hey.com>
Signed-off-by: Audrow Nash <audrow@hey.com>
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jacobperron
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Looks reasonable to me. It would be good to get another set of eyes for review.
ivanpauno
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May 5, 2021
Signed-off-by: Audrow Nash <audrow@hey.com>
Signed-off-by: Audrow Nash <audrow@hey.com>
Signed-off-by: Audrow Nash <audrow@hey.com>
jacobperron
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May 19, 2021
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ivanpauno
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May 19, 2021
image_transport/include/image_transport/simple_subscriber_plugin.hpp
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Signed-off-by: Audrow Nash <audrow@hey.com> Co-authored-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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This PR is needed for QoS overrides in subscriptions, as in ros-perception/image_pipeline#651.
Using subscription options requires specifying the type of the allocator used. I am currently adding subscription options specialized to use a
voidallocator (the default). I chose to proceed this way to expose the subscription options with minimal changes to this repository.I believe that exposing the subscription options with a templated allocator would require significant changes to this packages, for at least two reasons:
Subscriberclass uses plugins which don't support templatesSubscriberclass uses a pointer to an implementation (pimpl) in the source fileLet me know if you see a better approach.