Class: Rclrb::QoSProfile

Inherits:
Object
  • Object
show all
Defined in:
lib/rclrb/qos.rb

Overview

Represent the QoS profile of a topic, service or action. Look at QoSProfileSensorData, QoSProfileParameters, QoSProfileDefault, QoSProfileServicesDefault, QoSProfileParameterEvents, or QoSProfileSystemDefault.

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(depth:, history: QosHistoryPolicy::KeepLast, reliability: QosReliabilityPolicy::Reliable, durability: QosDurabilityPolicy::Volatile, deadline: nil, lifespan: nil, liveliness: QosLivelinessPolicy::SystemDefault, liveliness_lease_duration: nil, avoid_ros_namespace_conventions: false) ⇒ QoSProfile

Parameters:

  • depth Size of the message queue.

  • history History QoS policy setting

  • reliability Reliabiilty QoS policy setting

  • durability Durability QoS policy setting

  • deadline The period at which messages are expected to be sent/received

  • lifespan The age at which messages are considered expired and no longer valid

  • liveliness Liveliness QoS policy setting

  • liveliness_lease_duration The time within which the RMW node or publisher must show that it is alive

  • avoid_ros_namespace_conventions If true, any ROS specific namespacing conventions will be circumvented



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# File 'lib/rclrb/qos.rb', line 62

def initialize(depth:, history: QosHistoryPolicy::KeepLast, reliability: QosReliabilityPolicy::Reliable,
               durability: QosDurabilityPolicy::Volatile, deadline: nil, lifespan: nil,
               liveliness: QosLivelinessPolicy::SystemDefault, liveliness_lease_duration: nil,
               avoid_ros_namespace_conventions: false)
  @ros_profile = CApi::RmwQoSProfileT.new
  @ros_profile[:depth] = depth
  @ros_profile[:history] = history
  @ros_profile[:reliability] = reliability
  @ros_profile[:durability] = durability
  unless deadline.nil?
    s, n = deadline.to_sec_nsec
    @ros_profile[:deadline][:sec] = s
    @ros_profile[:deadline][:nsec] = n
  end
  unless lifespan.nil?
    s, n = lifespan.to_sec_nsec
    @ros_profile[:lifespan][:sec] = s
    @ros_profile[:lifespan][:nsec] = n
  end
  @ros_profile[:lifespan]
  @ros_profile[:liveliness] = liveliness
  unless liveliness_lease_duration.nil?
    s, n = liveliness_lease_duration.to_sec_nsec
    @ros_profile[:liveliness_lease_duration][:sec] = s
    @ros_profile[:liveliness_lease_duration][:nsec] = n
  end
end

Instance Attribute Details

#ros_profile ⇒ Object (readonly)

Returns the value of attribute ros_profile.



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# File 'lib/rclrb/qos.rb', line 49

def ros_profile
  @ros_profile
end

Class Method Details

.get_profile(p) ⇒ Object 



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# File 'lib/rclrb/qos.rb', line 89

def QoSProfile.get_profile p
  return p if p.kind_of? QoSProfile
  return QoSProfile.new depth: p 
end