Middleware-neutral QoS profile passed to IPublisherMiddleware::Init / ISubscriberMiddleware::Init when a topic needs QoS different from the vendor defaults (e.g. More...

#include <QosProfile.h>

Public Types
enum class	Durability : std::uint8_t { Volatile , TransientLocal }

enum class	History : std::uint8_t { KeepLast , KeepAll }

enum class	Reliability : std::uint8_t { Reliable , BestEffort }

Static Public Member Functions
static QosProfile	ReliableTransientLocal ()
	RELIABLE / TRANSIENT_LOCAL / KEEP_LAST depth 1 — the profile tier4 uses for the Autoware command subscribers (latched commands survive a late subscriber join).

static QosProfile	ReliableVolatile ()
	RELIABLE / VOLATILE / KEEP_LAST depth 1 — the profile tier4 uses for the Autoware report publishers.

Public Attributes
Durability	durability {Durability::Volatile}

History	history {History::KeepLast}

std::int32_t	history_depth {1}

Reliability	reliability {Reliability::Reliable}

Detailed Description

Middleware-neutral QoS profile passed to IPublisherMiddleware::Init / ISubscriberMiddleware::Init when a topic needs QoS different from the vendor defaults (e.g.

the Autoware command subscribers require RELIABLE + TRANSIENT_LOCAL to latch the last command).

This replaces tier4's TopicConfig (data_types.h) in the middleware-decoupled architecture: the domain id is NOT part of the profile (it lives in MiddlewareConfig.h) and the topic suffix is the caller's concern (publishers append suffixes to their base topic name).

The defaults (RELIABLE / VOLATILE / KEEP_LAST depth 1) mirror the FastDDS DataWriter defaults so passing QosProfile{} to a publisher is equivalent to the QoS-less Init overload.

Definition at line 27 of file QosProfile.h.

Member Enumeration Documentation

◆ Durability

enum class carla::ros2::QosProfile::Durability : std::uint8_t

strong

Enumerator
Volatile
TransientLocal

Definition at line 29 of file QosProfile.h.

◆ History

enum class carla::ros2::QosProfile::History : std::uint8_t

strong

Enumerator
KeepLast
KeepAll

Definition at line 30 of file QosProfile.h.

◆ Reliability

enum class carla::ros2::QosProfile::Reliability : std::uint8_t

strong

Enumerator
Reliable
BestEffort

Definition at line 28 of file QosProfile.h.

Member Function Documentation

◆ ReliableTransientLocal()

static QosProfile carla::ros2::QosProfile::ReliableTransientLocal ( )

inlinestatic

RELIABLE / TRANSIENT_LOCAL / KEEP_LAST depth 1 — the profile tier4 uses for the Autoware command subscribers (latched commands survive a late subscriber join).

Definition at line 40 of file QosProfile.h.

References durability, history, history_depth, KeepLast, reliability, Reliable, and TransientLocal.

Referenced by carla::ros2::AutowareControlSubscriber::AutowareControlSubscriber().