Partial stand-in for `rclpy.qos` in ROS1. More...

Classes
class	DurabilityPolicy
	Enum for QoS Durability settings. More...

class	HistoryPolicy
	Enum for QoS History settings. More...

class	InvalidQoSProfileException
	Raised when constructing a QoSProfile with invalid arguments. More...

class	LivelinessPolicy
	Enum for QoS Liveliness settings. More...

class	QoSPolicyEnum
	Base for QoS Policy enumerations. More...

class	QoSPolicyKind
	Enum for types of QoS policies that a Publisher or Subscription can set. More...

class	QoSPresetProfiles

class	QoSProfile
	Define Quality of Service policies. More...

class	ReliabilityPolicy
	Enum for QoS Reliability settings. More...

Functions
	qos_policy_name_from_kind (policy_kind)
	Get QoS policy name from QoSPolicyKind enum.

Variables
	ACTIONS

	DEADLINE_DEFAULT = DURATION_UNSPEFICIED

	DEFAULT

int	DEPTH_SYSTEM_DEFAULT = 0

	DURATION_UNSPEFICIED = Duration(0)

	LIFESPAN_DEFAULT = DURATION_UNSPEFICIED

	LIVELINESS_LEASE_DURATION_DEFAULT = DURATION_UNSPEFICIED

int	LIVELINESS_UNKNOWN = 4

	PARAMETER_EVENTS

	PARAMETERS

dict	PresetNames

	qos_profile_action_status_default = QoSProfile(**PresetNames['rcl_action_qos_profile_status_default'])

	qos_profile_parameter_events = QoSProfile(**PresetNames['qos_profile_parameter_events'])

	qos_profile_parameters = QoSProfile(**PresetNames['qos_profile_parameters'])

	qos_profile_sensor_data = QoSProfile(**PresetNames['qos_profile_sensor_data'])

	qos_profile_services_default = QoSProfile(**PresetNames['qos_profile_services_default'])

	qos_profile_system_default = QoSProfile(**PresetNames['qos_profile_system_default'])

	qos_profile_unknown = QoSProfile(**PresetNames['qos_profile_unknown'])

	QoSDurabilityPolicy = DurabilityPolicy

	QoSHistoryPolicy = HistoryPolicy

	QoSLivelinessPolicy = LivelinessPolicy

	QoSReliabilityPolicy = ReliabilityPolicy

	SENSOR_DATA

	SERVICES

	SYSTEM_DEFAULT

	UNKNOWN

Detailed Description

Partial stand-in for `rclpy.qos` in ROS1.

Partially modified copy from ROS2 `rclpy.qos`, at https://github.com/ros2/rclpy (`rclpy/rclpy/qos.py`), released under the Apache 2.0 License.

Includes port of preset QoS profiles from ROS2 Middleware Interface and ROS2 Actions for ROS1.

QoS profile names and values taken from:

https://github.com/ros2/rmw (`include/rmw/qos_profiles.h`, `include/rmw/types.h`)
https://github.com/ros2/rcl (`include/rcl_action/default_qos.h`)

Function Documentation

◆ qos_policy_name_from_kind()

rosros.rclify.qos.qos_policy_name_from_kind ( policy_kind )

Get QoS policy name from QoSPolicyKind enum.

Definition at line 293 of file qos.py.

Variable Documentation

◆ ACTIONS

rosros.rclify.qos.ACTIONS

Initial value:

=  dict(
    history                         = HistoryPolicy.KEEP_LAST,
    depth                           = 1,
    reliability                     = ReliabilityPolicy.RELIABLE,
    durability                      = DurabilityPolicy.TRANSIENT_LOCAL,
    deadline                        = DEADLINE_DEFAULT,
    lifespan                        = LIFESPAN_DEFAULT,
    liveliness                      = LivelinessPolicy.SYSTEM_DEFAULT,
    liveliness_lease_duration       = LIVELINESS_LEASE_DURATION_DEFAULT,
    avoid_ros_namespace_conventions = False,
)

Definition at line 268 of file qos.py.

◆ DEADLINE_DEFAULT

rosros.rclify.qos.DEADLINE_DEFAULT = DURATION_UNSPEFICIED

Definition at line 171 of file qos.py.

◆ DEFAULT

rosros.rclify.qos.DEFAULT

Initial value:

=  dict(
    history                         = HistoryPolicy.KEEP_LAST,
    depth                           = 10,
    reliability                     = ReliabilityPolicy.RELIABLE,
    durability                      = DurabilityPolicy.VOLATILE,
    deadline                        = DEADLINE_DEFAULT,
    lifespan                        = LIFESPAN_DEFAULT,
    liveliness                      = LivelinessPolicy.SYSTEM_DEFAULT,
    liveliness_lease_duration       = LIVELINESS_LEASE_DURATION_DEFAULT,
    avoid_ros_namespace_conventions = False,
)

Definition at line 177 of file qos.py.

◆ DEPTH_SYSTEM_DEFAULT

int rosros.rclify.qos.DEPTH_SYSTEM_DEFAULT = 0

Definition at line 173 of file qos.py.

◆ DURATION_UNSPEFICIED

rosros.rclify.qos.DURATION_UNSPEFICIED = Duration(0)

Definition at line 169 of file qos.py.

◆ LIFESPAN_DEFAULT

rosros.rclify.qos.LIFESPAN_DEFAULT = DURATION_UNSPEFICIED

Definition at line 172 of file qos.py.

◆ LIVELINESS_LEASE_DURATION_DEFAULT

rosros.rclify.qos.LIVELINESS_LEASE_DURATION_DEFAULT = DURATION_UNSPEFICIED

Definition at line 170 of file qos.py.

◆ LIVELINESS_UNKNOWN

int rosros.rclify.qos.LIVELINESS_UNKNOWN = 4

Definition at line 174 of file qos.py.

◆ PARAMETER_EVENTS

rosros.rclify.qos.PARAMETER_EVENTS

Initial value:

=  dict(
    history                         = HistoryPolicy.KEEP_LAST,
    depth                           = 1000,
    reliability                     = ReliabilityPolicy.RELIABLE,
    durability                      = DurabilityPolicy.VOLATILE,
    deadline                        = DEADLINE_DEFAULT,
    lifespan                        = LIFESPAN_DEFAULT,
    liveliness                      = LivelinessPolicy.SYSTEM_DEFAULT,
    liveliness_lease_duration       = LIVELINESS_LEASE_DURATION_DEFAULT,
    avoid_ros_namespace_conventions = False,
)

Definition at line 255 of file qos.py.

◆ PARAMETERS

rosros.rclify.qos.PARAMETERS

Initial value:

=  dict(
    history                         = HistoryPolicy.KEEP_LAST,
    depth                           = 1000,
    reliability                     = ReliabilityPolicy.RELIABLE,
    durability                      = DurabilityPolicy.VOLATILE,
    deadline                        = DEADLINE_DEFAULT,
    lifespan                        = LIFESPAN_DEFAULT,
    liveliness                      = LivelinessPolicy.SYSTEM_DEFAULT,
    liveliness_lease_duration       = LIVELINESS_LEASE_DURATION_DEFAULT,
    avoid_ros_namespace_conventions = False,
)

Definition at line 242 of file qos.py.

◆ PresetNames

dict rosros.rclify.qos.PresetNames

Initial value:

=  {
    "qos_profile_default":                   DEFAULT,
    "qos_profile_unknown":                   UNKNOWN,
    "qos_profile_system_default":            SYSTEM_DEFAULT,
    "qos_profile_sensor_data":               SENSOR_DATA,
    "qos_profile_services_default":          SERVICES,
    "qos_profile_parameters":                PARAMETERS,
    "qos_profile_parameter_events":          PARAMETER_EVENTS,
    "rcl_action_qos_profile_status_default": ACTIONS,
}

Definition at line 281 of file qos.py.

◆ qos_profile_action_status_default

rosros.rclify.qos.qos_profile_action_status_default = QoSProfile(**PresetNames['rcl_action_qos_profile_status_default'])

Definition at line 559 of file qos.py.

◆ qos_profile_parameter_events

rosros.rclify.qos.qos_profile_parameter_events = QoSProfile(**PresetNames['qos_profile_parameter_events'])

Definition at line 553 of file qos.py.

◆ qos_profile_parameters

rosros.rclify.qos.qos_profile_parameters = QoSProfile(**PresetNames['qos_profile_parameters'])

Definition at line 550 of file qos.py.

◆ qos_profile_sensor_data

rosros.rclify.qos.qos_profile_sensor_data = QoSProfile(**PresetNames['qos_profile_sensor_data'])

Definition at line 545 of file qos.py.

◆ qos_profile_services_default

rosros.rclify.qos.qos_profile_services_default = QoSProfile(**PresetNames['qos_profile_services_default'])

Definition at line 547 of file qos.py.

◆ qos_profile_system_default

rosros.rclify.qos.qos_profile_system_default = QoSProfile(**PresetNames['qos_profile_system_default'])

Definition at line 543 of file qos.py.

◆ qos_profile_unknown

rosros.rclify.qos.qos_profile_unknown = QoSProfile(**PresetNames['qos_profile_unknown'])

Definition at line 541 of file qos.py.

◆ QoSDurabilityPolicy

rosros.rclify.qos.QoSDurabilityPolicy = DurabilityPolicy

Definition at line 145 of file qos.py.

◆ QoSHistoryPolicy

rosros.rclify.qos.QoSHistoryPolicy = HistoryPolicy

Definition at line 103 of file qos.py.

◆ QoSLivelinessPolicy

rosros.rclify.qos.QoSLivelinessPolicy = LivelinessPolicy

Definition at line 166 of file qos.py.

◆ QoSReliabilityPolicy

rosros.rclify.qos.QoSReliabilityPolicy = ReliabilityPolicy

Definition at line 124 of file qos.py.

◆ SENSOR_DATA

rosros.rclify.qos.SENSOR_DATA

Initial value:

=  dict(
    history                         = HistoryPolicy.KEEP_LAST,
    depth                           = 5,
    reliability                     = ReliabilityPolicy.BEST_EFFORT,
    durability                      = DurabilityPolicy.VOLATILE,
    deadline                        = DEADLINE_DEFAULT,
    lifespan                        = LIFESPAN_DEFAULT,
    liveliness                      = LivelinessPolicy.SYSTEM_DEFAULT,
    liveliness_lease_duration       = LIVELINESS_LEASE_DURATION_DEFAULT,
    avoid_ros_namespace_conventions = False,
)

Definition at line 216 of file qos.py.

◆ SERVICES

rosros.rclify.qos.SERVICES

Initial value:

=  dict(
    history                         = HistoryPolicy.KEEP_LAST,
    depth                           = 10,
    reliability                     = ReliabilityPolicy.RELIABLE,
    durability                      = DurabilityPolicy.VOLATILE,
    deadline                        = DEADLINE_DEFAULT,
    lifespan                        = LIFESPAN_DEFAULT,
    liveliness                      = LivelinessPolicy.SYSTEM_DEFAULT,
    liveliness_lease_duration       = LIVELINESS_LEASE_DURATION_DEFAULT,
    avoid_ros_namespace_conventions = False,
)

Definition at line 229 of file qos.py.

◆ SYSTEM_DEFAULT

rosros.rclify.qos.SYSTEM_DEFAULT

Initial value:

=  dict(
    history                         = HistoryPolicy.SYSTEM_DEFAULT,
    depth                           = DEPTH_SYSTEM_DEFAULT,
    reliability                     = ReliabilityPolicy.SYSTEM_DEFAULT,
    durability                      = DurabilityPolicy.SYSTEM_DEFAULT,
    deadline                        = DEADLINE_DEFAULT,
    lifespan                        = LIFESPAN_DEFAULT,
    liveliness                      = LivelinessPolicy.SYSTEM_DEFAULT,
    liveliness_lease_duration       = LIVELINESS_LEASE_DURATION_DEFAULT,
    avoid_ros_namespace_conventions = False,
)

Definition at line 203 of file qos.py.

◆ UNKNOWN

rosros.rclify.qos.UNKNOWN

Initial value:

=  dict(
    history                         = HistoryPolicy.UNKNOWN,
    depth                           = DEPTH_SYSTEM_DEFAULT,
    reliability                     = ReliabilityPolicy.UNKNOWN,
    durability                      = DurabilityPolicy.UNKNOWN,
    deadline                        = DEADLINE_DEFAULT,
    lifespan                        = LIFESPAN_DEFAULT,
    liveliness                      = LivelinessPolicy.SYSTEM_DEFAULT,
    liveliness_lease_duration       = LIVELINESS_LEASE_DURATION_DEFAULT,
    avoid_ros_namespace_conventions = False,
)

Definition at line 190 of file qos.py.

Classes

Functions

Variables

Detailed Description

Function Documentation

◆ qos_policy_name_from_kind()

Variable Documentation

◆ ACTIONS

◆ DEADLINE_DEFAULT

◆ DEFAULT

◆ DEPTH_SYSTEM_DEFAULT

◆ DURATION_UNSPEFICIED

◆ LIFESPAN_DEFAULT

◆ LIVELINESS_LEASE_DURATION_DEFAULT

◆ LIVELINESS_UNKNOWN

◆ PARAMETER_EVENTS

◆ PARAMETERS

◆ PresetNames

◆ qos_profile_action_status_default

◆ qos_profile_parameter_events

◆ qos_profile_parameters

◆ qos_profile_sensor_data

◆ qos_profile_services_default

◆ qos_profile_system_default

◆ qos_profile_unknown

◆ QoSDurabilityPolicy

◆ QoSHistoryPolicy

◆ QoSLivelinessPolicy

◆ QoSReliabilityPolicy

◆ SENSOR_DATA

◆ SERVICES

◆ SYSTEM_DEFAULT

◆ UNKNOWN