Allow GenericPublisher / GenericSubscription to take a QoS profile#337
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emersonknapp merged 2 commits intoros2:masterfrom Mar 31, 2020
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piraka9011
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Let's remove the sleep from the tests, those won't work reliably.
rosbag2_transport/src/rosbag2_transport/generic_subscription.cpp
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mm318
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zmichaels11
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rosbag2_transport/src/rosbag2_transport/generic_subscription.cpp
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Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
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Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
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zmichaels11
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Part of #125
Part of https://github.com/ros-tooling/aws-roadmap/issues/216
This PR adds QoS profiles to the GenericSubscription / GenericPublisher internal API, so that they do not always use the default. It continues to set the default explicitly, so behavior is not yet changed.
Note on testing: I validated that both added tests fail before the rest of the change is introduced. The reason I added the timeout is that the failing case waits the full 60 second rostest timeout otherwise, which is very overkill in all cases, for passing 2 messages.
The followups after this change will be:
create_generic_subscriptionfor recording behavior.create_generic_publisherfor playback behavior