Pointcloud2 widget defaults to Reliable QoS reliability setting which is incompatible with the recommended SensorDataQos #1616
Description
Generated by Generative AI
No
Operating System:
Ubuntu 24.04
ROS version or commit hash:
rolling
RMW implementation (if applicable):
rmw_fastrtps_cpp
RMW Configuration (if applicable):
No response
Client library (if applicable):
No response
'ros2 doctor --report' output
ros2 doctor --report
$ ros2 doctor --report
/opt/ros/rolling/lib/python3.12/site-packages/ros2doctor/api/__init__.py: 262: UserWarning: Fail to call PackageReport class functions.
ACTION LIST
action : none
action server count : 0
action client count : 0
ROS ENVIRONMENT
ROS environment variables : ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET, ROS_DISTRO=rolling
rcutils environment variables :
rmw environment variables :
NETWORK CONFIGURATION
inet : 127.0.0.1
inet4 : ['127.0.0.1']
inet6 : ['::1']
netmask : 255.0.0.0
device : lo
flags : UP,LOOPBACK,RUNNING
mtu : 65536
inet : 192.168.1.34
inet4 : ['192.168.1.34']
ether : dc:46:28:ad:d9:dc
inet6 : ['fe80::c313:9b16:8a44:94f2%wlp0s20f3']
netmask : 255.255.255.0
device : wlp0s20f3
flags : UP,BROADCAST,RUNNING,MULTICAST
mtu : 1500
broadcast : 192.168.1.255
inet : 172.17.0.1
inet4 : ['172.17.0.1']
ether : 5a:12:cc:d1:35:54
netmask : 255.255.0.0
device : docker0
flags : UP,BROADCAST,MULTICAST
mtu : 1500
broadcast : 172.17.255.255
PLATFORM INFORMATION
system : Linux
platform info : Linux-6.14.0-34-generic-x86_64-with-glibc2.39
release : 6.14.0-34-generic
processor : x86_64
QOS COMPATIBILITY LIST
compatibility status : No publisher/subscriber pairs found
RMW MIDDLEWARE
middleware name : rmw_fastrtps_cpp
ROS 2 INFORMATION
distribution name : rolling
distribution type : ros2
distribution status : rolling
release platforms : {'debian': ['bookworm'], 'rhel': ['9'], 'ubuntu': ['noble']}
SERVICE LIST
service : none
service count : 0
client count : 0
TOPIC LIST
topic : none
publisher count : 0
subscriber count : 0
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!!! WARNING !!!
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The report includes all ROS 2 endpoint information and system platform information.
Please review the report before sharing, as it may contain sensitive or private data.
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Steps to reproduce issue
- source your setup.bash
rviz2- Add a Pointcloud2 widget By display topic or By topic
- Expand the Topic group in the sidebar and see that it always uses Reliable QOS
Expected behavior
When I add a pointcloud2 widget:
-
By display type
It should default to the QOS settings defined by the Sensor Data QOS, which is the recommended settings for pointcloud publishers -
By topic
It should use the QOS settings defined by the publisher
Actual behavior
I was working on debugging some pointcloud functionality for an application in ROS 2 Humble. I have a pointcloud being streamed to a topic, but could not get it to visualize in the pointcloud 2 widget. I tried two methods of adding the widget:
- By display type
- By topic
For both of these methods, the default QOS reliability policy (this setting is collapsed by default in the widget sidebar, which makes this problem worse) is Reliable - which is incompatible with the recommended QOS for pointclouds which is the Sensor Data QoS (which uses Best effort). There is no indication anywhere in Rviz2 there is a QOS incompatibility.
I ran rviz2 in Rolling to confirm this behavior still exists there and "By display type" does. I am not sure about "By topic".
When you expand the by default collapsed Topic sidebar, you can see the QOS settings causing the problem (if you are familiar with QOS)
Additional information
No response