Foxy: Regarding changing QoS policies in pre-provided QoS profiles in ROS2

asked 2021-01-10 23:20:19 -0600

Aakashp gravatar image

For ROS2 Foxy Fitzroy:

In the following ROS2 documentation page (Concepts) https://index.ros.org/doc/ros2/Concep...
it is said that "At the same time, developers are given the flexibility to control specific policies of the QoS profiles."

So, does this mean that only the developers, who are making some changes in the code, would get the provision to control specific policies of the QoS profiles and NOT the end-users of ROS2 ? I mean, if I am using ROS2 for my robotic application, (and I am not modifying any ROS2 code) will I have the flexibility to change the QoS policies of specific QoS profiles ? Or I get only to choose the profiles and not touch the policies within those profiles ?

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I mean, if I am using ROS2 for my robotic application, (and I am not modifying any ROS2 code)

it's very unusual (at this point in time) for anyone to be able to put together an application without writing any code.

What do you consider to be "ROS 2"? Packages like rclcpp and other parts of the infrastructure are not active packages by themselves. Without you writing nodes / components / plugins which actually contain your application / business logic, nothing will happen.

At the level of your nodes, you should be fully capable of configuring QoS for your publishers and subscribers.

If you could clarify whether you are going to create your own packages and nodes, perhaps we can provide better answers.

gvdhoorn gravatar image gvdhoorn  ( 2021-01-11 02:41:51 -0600 )edit

@gvdhoorn : Actually, by developers, I meant the maintainers of ROS2 code, and not the ones who would code for building a ROS2 application. Yes, for me building a ROS 2 application, I will have to code the nodes and services etc. But I had the doubt that whether I will have the option to configure QoS policies too or I just get to select the QoS profiles.

Aakashp gravatar image Aakashp  ( 2021-01-11 11:31:19 -0600 )edit