Add qos parameter for wait_for_message function by ghanta1996 · Pull Request #2903 · ros2/rclcpp

ghanta1996 · 2025-07-12T02:30:19Z

Description

A small change to include the QoS settings as one of the parameters for rclcpp::wait_for_message. This is useful in cases where we want just to get the last published message on the topic, rather than always waiting for a new message.

Fixes # (issue)

Is this user-facing behavior change?

Did you use Generative AI?

No

Additional Information

fujitatomoya

Can you also add the test for QoS optional argument?

rclcpp/include/rclcpp/wait_for_message.hpp

fujitatomoya · 2025-07-13T16:36:41Z

@ghanta1996 there is another thing i should have mentioned before, can your retarget this PR against rolling? that is our development branch and if that fix can keep the API/ABI compatibility, we can consider the backport to the downstream distros. sorry i should have mentioned this 1st.

ghanta1996 · 2025-07-13T23:26:31Z

@fujitatomoya No worries. I have rebased my branch to rolling and updated the PR accordingly. Thanks

Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com> Signed-off-by: Sriharsha Ghanta <harsha@lionsbot.com> Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com>

Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com> Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com> Signed-off-by: Sriharsha Ghanta <harsha@lionsbot.com> Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com>

Add test case for using QoS Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com> Signed-off-by: Sriharsha Ghanta <harsha@lionsbot.com> Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com>

Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com> Signed-off-by: Sriharsha Ghanta <harsha@lionsbot.com> Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com>

Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com>

ahcorde

uncrustufy is failing https://build.ros2.org/job/Rpr__rclcpp__ubuntu_noble_amd64/708/testReport/junit/(root)/projectroot/uncrustify/

rclcpp/test/rclcpp/test_wait_for_message.cpp

fujitatomoya

just a minor nitpick, and lgtm with @ahcorde 's comment resolved. thanks 👍

fujitatomoya · 2025-07-14T15:54:00Z

rclcpp/include/rclcpp/wait_for_message.hpp

 * Wait for the next incoming message to arrive on a specified topic before the specified timeout.
- *
- * \param[out] out is the message to be filled when a new message is arriving.
+ * Specify the QoS settings for the subscription to control how messages are received.


i would remove this comment, it is pretty much the duplication of qos parameter explanation in the main body.

Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com>

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

ahcorde · 2025-07-14T17:58:48Z

Pulls: #2903
Gist: https://gist.githubusercontent.com/ahcorde/ed15e9d8cb0ee699f0da4c2e779588d4/raw/1e21fb39d53a36fc56f61494a103fab3e9d7b2bd/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp
TEST args: --packages-above rclcpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16493

Linux
Linux-aarch64
Linux-rhel
Windows

fujitatomoya · 2025-07-16T16:11:48Z

The added parameter in the function signature is given a default value.
This means existing code that calls wait_for_message without specifying the qos parameter will continue to work exactly as before.
The function’s usage, binary compatibility (ABI), and source compatibility (API) are preserved.

I am gonna try to backport this fix to downstream distros.

fujitatomoya · 2025-07-16T16:12:02Z

@Mergifyio backport kilted jazzy humble

mergify · 2025-07-16T16:12:15Z

backport kilted jazzy humble

✅ Backports have been created

Details

#2905 Add qos parameter for wait_for_message function (backport #2903) has been created for branch kilted
#2906 Add qos parameter for wait_for_message function (backport #2903) has been created for branch jazzy
#2907 Add qos parameter for wait_for_message function (backport #2903) has been created for branch humble

Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com> Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> (cherry picked from commit 2fcef70)

(cherry picked from commit 2fcef70) Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com> Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Sriharsha Ghanta <ghanta_sriharsha@mymail.sutd.edu.sg> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

* QoSInitialization::from_rmw does not validate invalid history policy values, leading to silent failures (ros2#2841) (ros2#2845) (cherry picked from commit 73e9bfb) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * get_all_data_impl() does not handle null pointers properly, causing segmentation fault (backport ros2#2840) (ros2#2851) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Added missing chrono includes (ros2#2854) (ros2#2856) (cherry picked from commit 373a63c) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Fix for memory leaks in rclcpp::SerializedMessage (ros2#2861) (ros2#2864) (cherry picked from commit 8d44b95) Signed-off-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Michael Orlov <michael.orlov@apex.ai> Co-authored-by: Michael Orlov <morlovmr@gmail.com> Co-authored-by: kylemarcey <marcey.kyle@gmail.com> * Replace std::default_random_engine with std::mt19937 (humble) (ros2#2847) (ros2#2867) (cherry picked from commit a0e2240) Signed-off-by: keeponoiro <keeeeeeep@gmail.com> Co-authored-by: keeponoiro <keeeeeeep@gmail.com> * Changelog Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> * 28.1.10 * fix test_publisher_with_system_default_qos. (ros2#2881) (ros2#2883) (cherry picked from commit e6577c6) Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * Shutdown deadlock fix jazzy (ros2#2887) * fix: Don't deadlock if removing shutdown callbacks in a shutdown callback Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> * refactor: Made fix API compatible Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> --------- Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com> * Event exec timer fix for ros2#2889 (ros2#2890) Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> Signed-off-by: Janosch Machowinski <jmachowinski@users.noreply.github.com> Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Add overload of `append_parameter_override` (ros2#2891) (ros2#2895) (cherry picked from commit fa0cf2d) Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com> Co-authored-by: Patrick Roncagliolo <ronca.pat@gmail.com> * Fujitatomoya/test append parameter override (ros2#2896) (ros2#2900) (cherry picked from commit 84c6fb1) Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * [jazzy] Expose `typesupport_helpers` API needed for the Rosbag2 (backport ros2#2858) (ros2#2902) * Expose `typesupport_helpers` API needed for the Rosbag2 (ros2#2858) * Expose extract_type_identifier and get_typesupport_library_path API - Rationale: We need to use this API in the Rosbag2 - Reference PR ros2/rosbag2#2017 in the Rosbag2 Signed-off-by: Michael Orlov <michael.orlov@apex.ai> * Use C++ style in doxygen documentation Signed-off-by: Michael Orlov <michael.orlov@apex.ai> --------- Signed-off-by: Michael Orlov <michael.orlov@apex.ai> (cherry picked from commit 448287b) # Conflicts: # rclcpp/include/rclcpp/typesupport_helpers.hpp * Address merge conflicts Signed-off-by: Michael Orlov <michael.orlov@apex.ai> --------- Signed-off-by: Michael Orlov <michael.orlov@apex.ai> Co-authored-by: Michael Orlov <morlovmr@gmail.com> * Add qos parameter for wait_for_message function (ros2#2903) (ros2#2906) (cherry picked from commit 2fcef70) Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com> Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Sriharsha Ghanta <ghanta_sriharsha@mymail.sutd.edu.sg> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> * Fix `start_type_description_service` param handling (ros2#2897) (ros2#2909) * Fix `start_type_description_service` param handling * Add test * Demonstrate different exceptions depending on node options * Same exact exception and `what()` message in both cases * Uncrustify --------- (cherry picked from commit 4fb558a) Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com> Co-authored-by: Patrick Roncagliolo <ronca.pat@gmail.com> --------- Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Signed-off-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Michael Orlov <michael.orlov@apex.ai> Signed-off-by: keeponoiro <keeeeeeep@gmail.com> Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> Signed-off-by: Janosch Machowinski <jmachowinski@users.noreply.github.com> Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com> Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Michael Orlov <morlovmr@gmail.com> Co-authored-by: kylemarcey <marcey.kyle@gmail.com> Co-authored-by: keeponoiro <keeeeeeep@gmail.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Co-authored-by: Janosch Machowinski <jmachowinski@users.noreply.github.com> Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com> Co-authored-by: Patrick Roncagliolo <ronca.pat@gmail.com> Co-authored-by: Sriharsha Ghanta <ghanta_sriharsha@mymail.sutd.edu.sg>

ghanta1996 force-pushed the feat/qos-profile-for-wait_for_message branch from 9e72fbc to 68ed3dd Compare July 12, 2025 02:33

fujitatomoya requested changes Jul 12, 2025

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rclcpp/include/rclcpp/wait_for_message.hpp Outdated Show resolved Hide resolved

ghanta1996 force-pushed the feat/qos-profile-for-wait_for_message branch 2 times, most recently from acb459f to 3b88d28 Compare July 13, 2025 07:53

ghanta1996 changed the base branch from jazzy to rolling July 13, 2025 23:15

ghanta1996 force-pushed the feat/qos-profile-for-wait_for_message branch from 3b88d28 to 22b6109 Compare July 13, 2025 23:21

ghanta1996 added 5 commits July 14, 2025 10:00

Add qos parameter for wait_for_message function

b48b3d2

Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com> Signed-off-by: Sriharsha Ghanta <harsha@lionsbot.com> Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com>

fix typo, include qos header

3b24135

Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com> Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com> Signed-off-by: Sriharsha Ghanta <harsha@lionsbot.com> Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com>

Change QoS to SystemDefaultQoS

60bfd96

Add test case for using QoS Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com> Signed-off-by: Sriharsha Ghanta <harsha@lionsbot.com> Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com>

fix compilation

1d6d5dd

Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com> Signed-off-by: Sriharsha Ghanta <harsha@lionsbot.com> Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com>

fix: cpplint

258703a

Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com> Signed-off-by: Sriharsha Ghanta <harsha@lionsbot.com> Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com>

ghanta1996 force-pushed the feat/qos-profile-for-wait_for_message branch 2 times, most recently from a31cd3c to 87bc402 Compare July 14, 2025 02:00

fix coding style

117d00f

Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com>

ghanta1996 force-pushed the feat/qos-profile-for-wait_for_message branch from 87bc402 to 117d00f Compare July 14, 2025 02:16

ghanta1996 requested a review from fujitatomoya July 14, 2025 02:35

ahcorde requested changes Jul 14, 2025

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rclcpp/test/rclcpp/test_wait_for_message.cpp Show resolved Hide resolved

fujitatomoya approved these changes Jul 14, 2025

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ghanta1996 added 2 commits July 14, 2025 23:56

fix build

6cf34e7

Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com>

add include future, remove the comment

62bec11

Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com>

ghanta1996 requested a review from ahcorde July 14, 2025 16:06

ahcorde approved these changes Jul 14, 2025

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alphabetize headers

f033f02

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

ahcorde merged commit 2fcef70 into ros2:rolling Jul 16, 2025
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This was referenced Jul 16, 2025

Add qos parameter for wait_for_message function (backport #2903) #2905

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Add qos parameter for wait_for_message function (backport #2903) #2906

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Add qos parameter for wait_for_message function (backport #2903) #2907

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ghanta1996 deleted the feat/qos-profile-for-wait_for_message branch July 18, 2025 06:37

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Add qos parameter for wait_for_message function#2903

Add qos parameter for wait_for_message function#2903
ahcorde merged 9 commits intoros2:rollingfrom
ghanta1996:feat/qos-profile-for-wait_for_message

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ghanta1996 commented Jul 12, 2025

Description

Is this user-facing behavior change?

Did you use Generative AI?

Additional Information

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fujitatomoya commented Jul 13, 2025

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