Skip to content

Fix rosbag2_py transport test for py capsule #707

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
emersonknapp merged 2 commits into from
Apr 1, 2021
Merged

Fix rosbag2_py transport test for py capsule #707

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
f2b2401
Fix rosbag2_py transport test for py capsule
Apr 1, 2021
5fae9de
Better variable names and const
Apr 1, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
10 changes: 5 additions & 5 deletions rosbag2_py/src/rosbag2_py/_transport.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -40,11 +40,11 @@ namespace

rclcpp::QoS qos_from_handle(const py::handle source)
{
auto py_capsule = PyObject_CallMethod(source.ptr(), "get_c_qos_profile", "");
const auto rmw_qos_profile = reinterpret_cast<rmw_qos_profile_t *>(
PyCapsule_GetPointer(py_capsule, "rmw_qos_profile_t"));
const auto qos_init = rclcpp::QoSInitialization::from_rmw(*rmw_qos_profile);
return rclcpp::QoS{qos_init, *rmw_qos_profile};
PyObject * raw_obj = PyObject_CallMethod(source.ptr(), "get_c_qos_profile", "");
const auto py_obj = py::cast<py::object>(raw_obj);
const auto rmw_qos_profile = py_obj.cast<rmw_qos_profile_t>();
Copy link
Copy Markdown
Contributor

@sloretz sloretz Apr 1, 2021

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

This looks like it will work, though I wouldn't rely on rclpy's C/C++ interface being API/ABI stable. It's possible (but very unlikely) that this will break in the same ROS distro in the future.

get_c_qos_profile() itself should really be documented as internal-use-only.

Copy link
Copy Markdown
Collaborator Author

@emersonknapp emersonknapp Apr 1, 2021

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Do you have a suggestion on how rosbag2's pybind could take rclpy.QoS as an argument in a more stable way?

Copy link
Copy Markdown
Collaborator Author

@emersonknapp emersonknapp Apr 1, 2021

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Alternatively - we could pass the YAML file directly and have the C++ layer do the parsing, which it does already have utilities for. Maybe that's a better way, though I had preferred that the CLI layer do input validation

const auto qos_init = rclcpp::QoSInitialization::from_rmw(rmw_qos_profile);
return rclcpp::QoS{qos_init, rmw_qos_profile};
}

QoSMap qos_map_from_py_dict(const py::dict & dict)
Expand Down