Allow GenericPublisher / GenericSubscription to take a QoS profile (re-do #337)#340
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emersonknapp merged 3 commits intoros2:masterfrom Mar 31, 2020
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Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
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@emersonknapp - please run this CI job |
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…est compilation instead of via linking Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
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Windows has 1 failing test, it's the preexisting known one |
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zmichaels11
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Mar 31, 2020
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Part of #125
Part of ros-tooling/aws-roadmap#216
Re-do #337
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:
use the queried QoS profiles (from #333) to determine what QoS profile to pass to create_generic_subscription for recording behavior.
use the deserialized QoS profiles that are read in from TopicMetadata to pass to create_generic_publisher for playback behavior