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enhance parameter bridge enable options for topics#250

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daisukes wants to merge 6 commits intoros2:masterfrom
daisukes:enhance-parameter-bridge
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enhance parameter bridge enable options for topics#250
daisukes wants to merge 6 commits intoros2:masterfrom
daisukes:enhance-parameter-bridge

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@daisukes daisukes commented Apr 2, 2020

This enhancement enables parameter_bridge to control the bridge precisely with the following keys. Please see the detail in doc/parameter_bridge.rst

  • direction
  • transient_local
  • reliable
  • latch

I was struggling with tf_static which is a latched topic in ROS1 but cannot be seen in ROS2.
With specifying transient_local and reliable to true, it can be seen in ROS2 like a latched topic (of course need to use transient_local and reliable for the subscriber).

Signed-off-by: Daisuke Sato daisukes@cmu.edu

gonzodepedro
gonzodepedro reviewed May 1, 2020
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It looks good to me. just a single nit comment. It needs a rebase tough, after running CI.

@daisukes daisukes force-pushed the enhance-parameter-bridge branch from 2401db5 to ce54891 Compare May 4, 2020 18:05
fujitatomoya
fujitatomoya requested changes May 7, 2020
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mostly lgtm, but someone else needs to review.

src/bridge.cpp Outdated
if (reliable) { qos.reliable(); }

return qos.get_rmw_qos_profile();
}
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Suggested change
}
}

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gonzodepedro commented May 13, 2020

Build Status

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gonzodepedro approved these changes May 13, 2020
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LGTM

dirk-thomas
dirk-thomas reviewed May 20, 2020
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Please run the unit tests of the package which include the linters and address style issues.

@dirk-thomas dirk-thomas added enhancement New feature or request requires-changes labels May 20, 2020
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dirk-thomas commented Jun 4, 2020

@daisukes Friendly ping.

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daisukes commented Jun 4, 2020

@dirk-thomas Thank you for the reminder. I will work on this today.

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daisukes commented Jun 4, 2020

Do I need to fix the conflict too?

daisukes added 4 commits June 4, 2020 15:10
@daisukes
enhance parameter bridge enable options for topics (direction, transi…
95ab73d 
…ent_local, reliable, and latch)

Signed-off-by: Daisuke Sato <daisukes@cmu.edu>
@daisukes
fix parameter_bridge.rst description
c556a9c 
Signed-off-by: Daisuke Sato <daisukes@cmu.edu>
@daisukes
fix linter and uncrustify issues
4da850c 
Signed-off-by: Daisuke Sato <daisukes@cmu.edu>
@daisukes
modify documentation for parameter_bridge
2ab5c92 
Signed-off-by: Daisuke Sato <daisukes@cmu.edu>
@daisukes daisukes force-pushed the enhance-parameter-bridge branch from 51ceace to 2ab5c92 Compare June 5, 2020 00:14
dirk-thomas
dirk-thomas reviewed Jun 5, 2020
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daisukes added 2 commits June 5, 2020 01:01
@daisukes
fix documentation style
1fcbcab 
Signed-off-by: Daisuke Sato <daisukes@cmu.edu>
@daisukes
update configuration syntax description
e2558d9 
Signed-off-by: Daisuke Sato <daisukes@cmu.edu>
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dirk-thomas commented Aug 19, 2020

ros2/design#296 aims to provide a way to configure the QoS from the outside in a generic way. With that approach being the preferred choice I don't think a custom way to configure the bridge is desired.

@dirk-thomas dirk-thomas added duplicate This issue or pull request already exists and removed requires-changes labels Aug 19, 2020
@ivanpauno ivanpauno mentioned this pull request Sep 9, 2020
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sloretz commented Nov 5, 2020

Linking updated configurable QoS proposal ros2/design#300

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hidmic commented Dec 1, 2020

@daisukes does the added functionality satisfy your use case? If so, you may go ahead and close this.

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daisukes commented Dec 2, 2020

@hidmic, yes for ROS2 galactic. I may want to use direction and latch if I keep using the bridge, but I'm planning to port all my packages to ROS2 next year. Anyway, I will close this.

@daisukes daisukes closed this Dec 2, 2020
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@gonzodepedro gonzodepedro gonzodepedro approved these changes

@fujitatomoya fujitatomoya fujitatomoya approved these changes

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@daisukes @gonzodepedro @dirk-thomas @sloretz @hidmic @fujitatomoya