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Parametrize Quality of Service in parameter_bridge
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#331
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Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>
Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>
Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>
Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>
Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>
Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>
Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>
Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>
Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>
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…representation of liveliness enum values Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>
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Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>
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In 2 cases the formatting conflicts with what uncrustify wants; // NOLINT got rid of the complaints of cpplint, favouring uncrustify Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>
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Anything I can do to improve this PR and maybe get it merged eventually? |
Co-authored-by: Geoffrey Biggs <gbiggs@killbots.net> Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>
Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>
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Anything I can do to get this merged? |
Unstable build seems to be coming from unrelated file: https://github.com/ros2/ros1_bridge/blob/master/include/ros1_bridge/builtin_interfaces_factories.hpp |
Indeed, the failures look unrelated, so I'm going to go ahead and merge this. |
Because of the added dependency on xmlrpcpp, this PR breaks building We might want to make xmlrpcpp a conditional dependency, like roscpp, emit a warning and skip the build, e.g. Line 34 in 4af421d
Maybe this is not super important since we've removed |
In the interest of not having to deal with bug reports about that problem, I've gone ahead and made a PR that moves the |
Ah, my bad. I had assumed (the mother of ...) that |
* Extend create_bidirectional_bridge to take qos param for ROS2 publisher Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Busy setting up a way to read QoS parameters from ROS1 params Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Parse history qos params Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Call qos_from_params when setting up topics Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Configure deadline, lifespan, liveliness_lease_durations Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Configure liveliness Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Add some basic debug text Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Print the QoS settings to stdout when setting them up Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Catch XmlRpc::XmlRpcExceptions when constructing QoS from parameters Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Parse liveliness as either int enum value or upper/lower case string representation of liveliness enum values Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Fix formatting with uncrustify Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Fix cpplint formatting In 2 cases the formatting conflicts with what uncrustify wants; // NOLINT got rid of the complaints of cpplint, favouring uncrustify Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Clearer logging as suggested by code review Co-authored-by: Geoffrey Biggs <gbiggs@killbots.net> Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Clarify keep_last vs keep_all setting for history Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> Co-authored-by: Geoffrey Biggs <gbiggs@killbots.net>
Just reproduces the changes made in ros2#331 in ros foxy. Parametrize Quality of Service in `parameter_bridge` Signed-off-by: Lucyanno Frota <lucyannofrota@gmail.com>
* Extend create_bidirectional_bridge to take qos param for ROS2 publisher Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Busy setting up a way to read QoS parameters from ROS1 params Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Parse history qos params Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Call qos_from_params when setting up topics Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Configure deadline, lifespan, liveliness_lease_durations Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Configure liveliness Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Add some basic debug text Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Print the QoS settings to stdout when setting them up Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Catch XmlRpc::XmlRpcExceptions when constructing QoS from parameters Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Parse liveliness as either int enum value or upper/lower case string representation of liveliness enum values Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Fix formatting with uncrustify Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Fix cpplint formatting In 2 cases the formatting conflicts with what uncrustify wants; // NOLINT got rid of the complaints of cpplint, favouring uncrustify Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Clearer logging as suggested by code review Co-authored-by: Geoffrey Biggs <gbiggs@killbots.net> Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Clarify keep_last vs keep_all setting for history Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> Co-authored-by: Geoffrey Biggs <gbiggs@killbots.net>
Just reproduces the changes made in ros2#331 in ros foxy. Parametrize Quality of Service in `parameter_bridge` Signed-off-by: Lucyanno Frota <lucyannofrota@gmail.com>
… commits (ec44770) and (86b4245) to foxy branch] (#401) * Port of the commit (ec44770) to foxy branch Just reproduces the changes made in #331 in ros foxy. Parametrize Quality of Service in `parameter_bridge` Signed-off-by: Lucyanno Frota <lucyannofrota@gmail.com> * Port of the commit (86b4245) to foxy branch Reproduces the changes made in #371 in ros foxy. Move xmlrpcpp find_package so it only searches if ROS 1 is found Signed-off-by: Lucyanno Frota <lucyannofrota@gmail.com> * CI fix White spaces removed Signed-off-by: Lucyanno Frota <lucyannofrota@gmail.com> --------- Signed-off-by: Lucyanno Frota <lucyannofrota@gmail.com>
Had some trouble using the
parameter_bridge
with/tf_static
Turns out, I/m not the only one: https://answers.ros.org/question/349230/problem-passing-tf_static-through-ros1_bridge-to-ros2/ . Thedynamic_bridge
has an special case for this topic introduced in #282, but not in theparameter_bridge
.To tackle that and be the most general I could be, I extended the
parameter_bridge
to set specific QoS settings per topic, allowing one the implement that special case if required.I've used this config for testing (also with different and illegal values for the settings):
bridge.yaml
.Usage of the
parameter_bridge
is explained in #330, thisbridge.yaml
is can be used in the same way.