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Allow specifying qos #1225

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merged 4 commits into from
Mar 27, 2024
Merged

Allow specifying qos #1225

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63dceed
Allow specifying qos
Timple Feb 23, 2024
bdc1198
Enforce keyword arguments, add typing
Timple Feb 27, 2024
2bbe554
Test qos syntax
Timple Mar 22, 2024
c46bbea
flake8
Timple Mar 27, 2024
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8 changes: 7 additions & 1 deletion rclpy/rclpy/wait_for_message.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,11 @@
# See the License for the specific language governing permissions and
# limitations under the License.

from typing import Union

from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
from rclpy.node import Node
from rclpy.qos import QoSProfile
from rclpy.signals import SignalHandlerGuardCondition
from rclpy.utilities import timeout_sec_to_nsec

Expand All @@ -22,6 +25,8 @@ def wait_for_message(
msg_type,
node: 'Node',
topic: str,
*,
qos_profile: Union[QoSProfile, int] = 1,
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time_to_wait=-1
):
"""
Expand All @@ -30,6 +35,7 @@ def wait_for_message(
:param msg_type: message type
:param node: node to initialize the subscription on
:param topic: topic name to wait for message
:param qos_profile: QoS profile to use for the subscription
:param time_to_wait: seconds to wait before returning
:returns: (True, msg) if a message was successfully received, (False, None) if message
could not be obtained or shutdown was triggered asynchronously on the context.
Expand All @@ -38,7 +44,7 @@ def wait_for_message(
wait_set = _rclpy.WaitSet(1, 1, 0, 0, 0, 0, context.handle)
wait_set.clear_entities()

sub = node.create_subscription(msg_type, topic, lambda _: None, 1)
sub = node.create_subscription(msg_type, topic, lambda _: None, qos_profile=qos_profile)
try:
wait_set.add_subscription(sub.handle)
sigint_gc = SignalHandlerGuardCondition(context=context)
Expand Down
14 changes: 12 additions & 2 deletions rclpy/test/test_wait_for_message.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@
import unittest

import rclpy
from rclpy.qos import QoSProfile
from rclpy.wait_for_message import wait_for_message
from test_msgs.msg import BasicTypes

Expand Down Expand Up @@ -51,13 +52,22 @@ def _publish_message(self):
def test_wait_for_message(self):
t = threading.Thread(target=self._publish_message)
t.start()
ret, msg = wait_for_message(BasicTypes, self.node, TOPIC_NAME)
ret, msg = wait_for_message(BasicTypes, self.node, TOPIC_NAME, qos_profile=1)
self.assertTrue(ret)
self.assertEqual(msg.int32_value, MSG_DATA)
t.join()

def test_wait_for_message_qos(self):
t = threading.Thread(target=self._publish_message)
t.start()
ret, msg = wait_for_message(
BasicTypes, self.node, TOPIC_NAME, qos_profile=QoSProfile(depth=1))
self.assertTrue(ret)
self.assertEqual(msg.int32_value, MSG_DATA)
t.join()

def test_wait_for_message_timeout(self):
ret, _ = wait_for_message(BasicTypes, self.node, TOPIC_NAME, 1)
ret, _ = wait_for_message(BasicTypes, self.node, TOPIC_NAME, time_to_wait=1)
self.assertFalse(ret)


Expand Down