use rclcpp::QoS rather than rmw_qos_profile_t

Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>

composition_benchmark/apps/base_publisher_main.cpp

@@ -34,7 +34,7 @@ std::vector<IRobotNodePtr> create_publisher_node(int argc, char ** argv)
     *cli_options.msg_type,
     "my_topic",
     *cli_options.msg_pass_by,
-    rmw_qos_profile_default,
+    rclcpp::SensorDataQoS(),
     pub_period,
     *cli_options.msg_size);
 

composition_benchmark/apps/multi-producer-node.cpp

@@ -32,7 +32,7 @@ class MultiProducerNode : public performance_test::PerformanceNode<rclcpp::Node>
             using Msg = irobot_interfaces_plugin::msg::Stamped10b;
 
             std::string topic_name = "topic_" + std::to_string(i);
-            this->add_publisher<Msg>(topic_name, rmw_qos_profile_default);
+            this->add_publisher<Msg>(topic_name, rclcpp::SensorDataQoS());
 
             auto publish_func = std::bind(
                 &MultiProducerNode::publish_msg<Msg>,
@@ -54,7 +54,7 @@ class MultiProducerNode : public performance_test::PerformanceNode<rclcpp::Node>
             "slow_topic",
             std::chrono::milliseconds(111),
             performance_test::msg_pass_by_t::PASS_BY_UNIQUE_PTR,
-            rmw_qos_profile_default);
+            rclcpp::SensorDataQoS());
     }
 };
 

composition_benchmark/src/composable_publisher.cpp

@@ -26,7 +26,7 @@ ComposablePublisher::ComposablePublisher(const rclcpp::NodeOptions & options)
     topic_name,
     period,
     performance_test::msg_pass_by_t::PASS_BY_UNIQUE_PTR,
-    rmw_qos_profile_default,
+    rclcpp::SensorDataQoS(),
     msg_size);
 }
 

performance_test/include/performance_test/performance_node_base.hpp

@@ -70,38 +70,38 @@ class PerformanceNodeBase
     msg_pass_by_t msg_pass_by,
     performance_metrics::Tracker::Options tracking_options =
     performance_metrics::Tracker::Options(),
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
+    const rclcpp::QoS & qos_profile = rclcpp::SensorDataQoS(),
     std::chrono::microseconds work_duration = std::chrono::microseconds::zero());
 
   template<typename Msg>
   void add_periodic_publisher(
     const std::string & topic_name,
     std::chrono::microseconds period,
     msg_pass_by_t msg_pass_by,
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
+    const rclcpp::QoS & qos_profile = rclcpp::SensorDataQoS(),
     size_t size = 0);
 
   template<typename Msg>
   void add_publisher(
     const std::string & topic_name,
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default);
+    const rclcpp::QoS & qos_profile = rclcpp::SensorDataQoS());
 
   template<typename Srv>
   void add_server(
     const std::string & service_name,
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default);
+    const rclcpp::QoS & qos_profile = rclcpp::ServicesQoS());
 
   template<typename Srv>
   void add_periodic_client(
     const std::string & service_name,
     std::chrono::microseconds period,
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
+    const rclcpp::QoS & qos_profile = rclcpp::ServicesQoS(),
     size_t size = 0);
 
   template<typename Srv>
   void add_client(
     const std::string & service_name,
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default);
+    const rclcpp::QoS & qos_profile = rclcpp::ServicesQoS());
 
   void add_timer(std::chrono::microseconds period, std::function<void()> callback);
 
@@ -125,7 +125,7 @@ class PerformanceNodeBase
     const std::string & topic_name,
     performance_metrics::Tracker::Options tracking_options =
     performance_metrics::Tracker::Options(),
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
+    const rclcpp::QoS & qos_profile = rclcpp::SensorDataQoS(),
     std::chrono::microseconds work_duration = std::chrono::microseconds::zero());
 
   void store_subscription(

performance_test/include/performance_test/performance_node_base_impl.hpp

@@ -40,7 +40,7 @@ void PerformanceNodeBase::add_subscriber(
   const std::string & topic_name,
   msg_pass_by_t msg_pass_by,
   performance_metrics::Tracker::Options tracking_options,
-  const rmw_qos_profile_t & qos_profile,
+  const rclcpp::QoS & qos_profile,
   std::chrono::microseconds work_duration)
 {
   switch (msg_pass_by) {
@@ -72,24 +72,21 @@ template<
 void PerformanceNodeBase::add_subscriber_by_msg_variant(
   const std::string & topic_name,
   performance_metrics::Tracker::Options tracking_options,
-  const rmw_qos_profile_t & qos_profile,
+  const rclcpp::QoS & qos_profile,
   std::chrono::microseconds work_duration)
 {
-  rclcpp::SubscriptionBase::SharedPtr sub;
-  auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile), qos_profile);
-
   std::function<void(CallbackType msg)> callback_function = std::bind(
     &PerformanceNodeBase::topic_callback<CallbackType>,
     this,
     topic_name,
     work_duration,
     std::placeholders::_1);
 
-  sub = rclcpp::create_subscription<Msg>(
+  rclcpp::SubscriptionBase::SharedPtr sub = rclcpp::create_subscription<Msg>(
     m_node_interfaces.parameters,
     m_node_interfaces.topics,
     topic_name,
-    qos,
+    qos_profile,
     callback_function);
 
   this->store_subscription(sub, topic_name, tracking_options);
@@ -100,7 +97,7 @@ void PerformanceNodeBase::add_periodic_publisher(
   const std::string & topic_name,
   std::chrono::microseconds period,
   msg_pass_by_t msg_pass_by,
-  const rmw_qos_profile_t & qos_profile,
+  const rclcpp::QoS & qos_profile,
   size_t size)
 {
   this->add_publisher<Msg>(topic_name, qos_profile);
@@ -119,22 +116,20 @@ void PerformanceNodeBase::add_periodic_publisher(
 template<typename Msg>
 void PerformanceNodeBase::add_publisher(
   const std::string & topic_name,
-  const rmw_qos_profile_t & qos_profile)
+  const rclcpp::QoS & qos_profile)
 {
-  auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile), qos_profile);
-
   rclcpp::PublisherBase::SharedPtr pub = rclcpp::create_publisher<Msg>(
     m_node_interfaces.topics,
     topic_name,
-    qos);
+    qos_profile);
 
   this->store_publisher(pub, topic_name, performance_metrics::Tracker::Options());
 }
 
 template<typename Srv>
 void PerformanceNodeBase::add_server(
   const std::string & service_name,
-  const rmw_qos_profile_t & qos_profile)
+  const rclcpp::QoS & qos_profile)
 {
   std::function<void(
       const std::shared_ptr<rmw_request_id_t> request_header,
@@ -152,7 +147,7 @@ void PerformanceNodeBase::add_server(
     m_node_interfaces.services,
     service_name,
     callback_function,
-    qos_profile,
+    qos_profile.get_rmw_qos_profile(),
     nullptr);
 
   this->store_server(server, service_name, performance_metrics::Tracker::Options());
@@ -162,7 +157,7 @@ template<typename Srv>
 void PerformanceNodeBase::add_periodic_client(
   const std::string & service_name,
   std::chrono::microseconds period,
-  const rmw_qos_profile_t & qos_profile,
+  const rclcpp::QoS & qos_profile,
   size_t size)
 {
   this->add_client<Srv>(service_name, qos_profile);
@@ -182,14 +177,14 @@ void PerformanceNodeBase::add_periodic_client(
 template<typename Srv>
 void PerformanceNodeBase::add_client(
   const std::string & service_name,
-  const rmw_qos_profile_t & qos_profile)
+  const rclcpp::QoS & qos_profile)
 {
   rclcpp::ClientBase::SharedPtr client = rclcpp::create_client<Srv>(
     m_node_interfaces.base,
     m_node_interfaces.graph,
     m_node_interfaces.services,
     service_name,
-    qos_profile,
+    qos_profile.get_rmw_qos_profile(),
     nullptr);
 
   this->store_client(client, service_name, performance_metrics::Tracker::Options());

performance_test/test/test_system.cpp

@@ -57,7 +57,7 @@ TEST_F(TestSystem, SystemPubSubTest)
     "my_topic",
     std::chrono::milliseconds(10),
     performance_test::msg_pass_by_t::PASS_BY_UNIQUE_PTR,
-    rmw_qos_profile_default);
+    rclcpp::SensorDataQoS());
   ros2_system.add_node(pub_node);
 
   auto sub_node =
@@ -66,7 +66,7 @@ TEST_F(TestSystem, SystemPubSubTest)
     "my_topic",
     performance_test::msg_pass_by_t::PASS_BY_SHARED_PTR,
     performance_metrics::Tracker::Options(),
-    rmw_qos_profile_default);
+    rclcpp::SensorDataQoS());
   ros2_system.add_node(sub_node);
 
   ros2_system.spin(duration_sec);
@@ -90,14 +90,14 @@ TEST_F(TestSystem, SystemClientServerTest)
   client_node->add_periodic_client<performance_test_msgs::srv::Sample>(
     "my_service",
     std::chrono::milliseconds(10),
-    rmw_qos_profile_default);
+    rclcpp::ServicesQoS());
   ros2_system.add_node(client_node);
 
   auto server_node =
     std::make_shared<performance_test::PerformanceNode<rclcpp::Node>>("server_node");
   server_node->add_server<performance_test_msgs::srv::Sample>(
     "my_service",
-    rmw_qos_profile_default);
+    rclcpp::ServicesQoS());
   ros2_system.add_node(server_node);
 
   // discovery check does not work with client/server yet
@@ -115,13 +115,12 @@ TEST_F(TestSystem, SystemDifferentQoSTest)
   auto duration_sec = std::chrono::seconds(1);
   auto system_executor = performance_test::ExecutorType::STATIC_SINGLE_THREADED_EXECUTOR;
   performance_test::System ros2_system(system_executor);
-  rmw_qos_profile_t qos_profile = rmw_qos_profile_default;
+  auto qos_profile = rclcpp::QoS(10);
 
   // Create 1 pulisher node and 1 subscriber node
   auto pub_node =
     std::make_shared<performance_test::PerformanceNode<rclcpp::Node>>("pub_node");
-  qos_profile.reliability =
-    rmw_qos_reliability_policy_t::RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+  qos_profile.reliability(rmw_qos_reliability_policy_t::RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT);
   pub_node->add_periodic_publisher<performance_test_msgs::msg::Sample>(
     "my_topic",
     std::chrono::milliseconds(10),
@@ -131,8 +130,7 @@ TEST_F(TestSystem, SystemDifferentQoSTest)
 
   auto sub_node =
     std::make_shared<performance_test::PerformanceNode<rclcpp::Node>>("sub_node");
-  qos_profile.reliability =
-    rmw_qos_reliability_policy_t::RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  qos_profile.reliability(rmw_qos_reliability_policy_t::RMW_QOS_POLICY_RELIABILITY_RELIABLE);
   sub_node->add_subscriber<performance_test_msgs::msg::Sample>(
     "my_topic",
     performance_test::msg_pass_by_t::PASS_BY_SHARED_PTR,

performance_test_examples/src/client_nodes_main.cpp

@@ -67,7 +67,7 @@ int main(int argc, char ** argv)
     options.n_services,
     options.frequency,
     options.msg_type,
-    rmw_qos_profile_default);
+    rclcpp::ServicesQoS());
 
   ros2_system.add_nodes(client_nodes);
 

performance_test_examples/src/publisher_nodes_main.cpp

@@ -67,7 +67,7 @@ int main(int argc, char ** argv)
     options.msg_type,
     performance_test::msg_pass_by_t::PASS_BY_UNIQUE_PTR,
     options.msg_size,
-    rmw_qos_profile_default);
+    rclcpp::SensorDataQoS());
 
   ros2_system.add_nodes(pub_nodes);
 

performance_test_examples/src/server_nodes_main.cpp

@@ -64,7 +64,7 @@ int main(int argc, char ** argv)
     options.n_clients,
     options.n_clients + options.n_services,
     options.msg_type,
-    rmw_qos_profile_default);
+    rclcpp::ServicesQoS());
 
   ros2_system.add_nodes(server_nodes);
 

performance_test_examples/src/simple_client_service_main.cpp

@@ -68,7 +68,7 @@ int main(int argc, char ** argv)
     options.n_clients,
     options.n_clients + options.n_services,
     options.msg_type,
-    rmw_qos_profile_default);
+    rclcpp::ServicesQoS());
 
   ros2_system.add_nodes(server_nodes);
 
@@ -80,7 +80,7 @@ int main(int argc, char ** argv)
     options.n_services,
     options.frequency,
     options.msg_type,
-    rmw_qos_profile_default);
+    rclcpp::ServicesQoS());
 
   ros2_system.add_nodes(client_nodes);
 

performance_test_examples/src/simple_pub_sub_main.cpp

@@ -70,7 +70,7 @@ int main(int argc, char ** argv)
     options.msg_type,
     performance_test::msg_pass_by_t::PASS_BY_UNIQUE_PTR,
     options.msg_size,
-    rmw_qos_profile_default);
+    rclcpp::SensorDataQoS());
 
   ros2_system.add_nodes(pub_nodes);
 
@@ -83,7 +83,7 @@ int main(int argc, char ** argv)
     options.msg_type,
     performance_test::msg_pass_by_t::PASS_BY_SHARED_PTR,
     performance_metrics::Tracker::Options(),
-    rmw_qos_profile_default);
+    rclcpp::SensorDataQoS());
 
   ros2_system.add_nodes(sub_nodes);
 

performance_test_examples/src/subscriber_nodes_main.cpp

@@ -71,7 +71,7 @@ int main(int argc, char ** argv)
     options.msg_type,
     performance_test::msg_pass_by_t::PASS_BY_SHARED_PTR,
     performance_metrics::Tracker::Options(),
-    rmw_qos_profile_default);
+    rclcpp::SensorDataQoS());
 
   ros2_system.add_nodes(sub_nodes);
 

performance_test_factory/README.md

@@ -47,7 +47,7 @@ bool use_ipc = true;
 auto sub_node = factory.create_node("sub_node_name", use_ipc);
 std::string msg_type = "stamped10kb";
 std::string topic_name = "my_topic";
-factory.add_subscriber_from_strings(sub_node, msg_type, topic_name, rmw_qos_profile_default);
+factory.add_subscriber_from_strings(sub_node, msg_type, topic_name, rclcpp::SensorDataQoS());
 ```
 
 You can also create many similar nodes all at once.