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[ROS2] Retrieving QOS settings for a topic

asked 2018-10-05 09:37:55 -0500

Myzhar gravatar image

Hi, since a subscriber can receive a topic message only if its QOS profile is compatible with the QOS profile of the publisher, is there a way to retrieve the DURABILITY and the RELIABILITY settings for a topic?

I think that the command

$ ros2 topic info /topic

can be a good place to introduce this important feature.

What do you think?

Walter

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answered 2018-10-05 10:20:10 -0500

William gravatar image

Currently there is no way to get this information in the rclcpp or rclpy API.

I'm am pretty sure the information is available in the lower level middleware interface, so it would just need to be exposed through our middleware abstraction layer. Unfortunately this can be a tedious thing to do, but if you're interested I'd recommend opening an issue on the ros2/rmw repository or on the ros2/ros2 repository asking for this feature.

This feature is related to a series of other features which generally have to do with providing more information from the underlying middleware about the entities in the ROS graph, e.g. ability to associate publishers/subscriptions and the nodes that created them or which machine and process a node comes from.

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Asked: 2018-10-05 09:37:55 -0500

Seen: 98 times

Last updated: Oct 05 '18