Setting QoS with ROS2 using rmw_connext_cpp

asked 2018-09-10 21:48:38 -0600

ruffsl gravatar image

updated 2018-09-11 02:44:14 -0600

gvdhoorn gravatar image

It looks like Connext 5.3.1 has several cascading methods for passing QoS settings.

  • $NDDSHOME/resource/xml/NDDS_QOS_PROFILES.xml
  • URL Groups in NDDS_QOS_PROFILES environment variable
  • <working directory>/USER_QOS_PROFILES.xml

    <dds xmlns:xsi=""
         xsi:noNamespaceSchemaLocation="" version="5.3.1">
        <!-- Qos Library -->
        <qos_library name="UserQosProfilesLibrary">
          <qos_profile name="rmw_qos_profile_system_default">

But no matter where I place my rmw_qos_profile_system_default profile in xml, I can't seem to get the logger to logout to file; E.g. setting the verbosity to ALL and checking the target log file path for new entries.

I tried passing qos_profile_system_default from rclpy.qos to the qos_profile argument when using the create_subscription function. Am I missing a step in setting the QoS here?


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