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Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>
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| return rmw_api_connextdds_create_subscription( |
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Maybe we can move the new logic into rmw_api_connextdds_create_subscription? Then we don't have to repeat ourselves both here and in rmw_connextddsmicro. Same idea for the create publisher logic.
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Actually, maybe we can't make it work because of a linking issue. The function pointer passed to the rmw_dds_common function is technically implemented in this package, not the common package. I had the same issue in the connected rmw_fastrtps PR.
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I'm not sure I understand the possible problem, but I agree with @jacobperron that this logic should definitely be moved to rmw_api_connextdds_create_subscription() (and similarly for publishers, clients, and services), so that it may be shared between both RMWs.
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There might not be a problem moving the implementation if there is a common implementation for rmw_get_subscriptions_info_by_topic that shares the same signature.
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I coded the approach to give a try on building and testing. Worked fine in my local focal system until the point of compiling the system_tests. See #85
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I see now, thank you for clarifying @jacobperron. There are rmw_api_connextdds_get_publishers_info_by_topic and rmw_api_connextdds_get_subscriptions_info_by_topic which provide common implementations in rmw_connextdds_common.
@j-rivero #85 looks like the right approach, but it's missing the publisher part (which should go within rmw_api_connextdds_create_publisher in rmw_publication.cpp)
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Thanks Andrea, I've implemented your recommendation but test are still failing. Let's continue there #85 (comment)
Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>
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| return rmw_api_connextdds_create_subscription( |
There was a problem hiding this comment.
I'm not sure I understand the possible problem, but I agree with @jacobperron that this logic should definitely be moved to rmw_api_connextdds_create_subscription() (and similarly for publishers, clients, and services), so that it may be shared between both RMWs.
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Closing, deprecated by #85 |
Connects to: ros2/rmw#320
Twin of: ros2/rmw_fastrtps#598
If users set certain QoS policies to BEST_AVAILABLE, then we query the graph for endpoint info. The policy is updated such that it is compatible with all endpoints while maintaining the highest possible level of service.