Expose qos setting for /rosout

Signed-off-by: Ada-King <[email protected]>

Author: Ada-King

rcl/include/rcl/logging_rosout.h

@@ -26,6 +26,19 @@ extern "C"
 {
 #endif
 
+static const rmw_qos_profile_t rmw_qos_profile_rosout_default =
+{
+  RMW_QOS_POLICY_HISTORY_KEEP_LAST,
+  1000,
+  RMW_QOS_POLICY_RELIABILITY_RELIABLE,
+  RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
+  RMW_QOS_DEADLINE_DEFAULT,
+  {10, 0},
+  RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
+  RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
+  false
+};
+
 /// Initializes the rcl_logging_rosout features
 /**
  * Calling this will initialize the rcl_logging_rosout features. This function must be called

rcl/include/rcl/node_options.h

@@ -25,6 +25,9 @@ extern "C"
 
 #include "rcl/domain_id.h"
 
+#include "rcl/logging_rosout.h"
+#include "rmw/qos_profiles.h"
+
 /// Constant which indicates that the default domain id should be used.
 #define RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID RCL_DEFAULT_DOMAIN_ID
 
@@ -49,6 +52,9 @@ typedef struct rcl_node_options_t
 
   /// Flag to enable rosout for this node
   bool enable_rosout;
+
+  /// Middleware quality of service settings for /rosout.
+  rmw_qos_profile_t rosout_qos;
 } rcl_node_options_t;
 
 /// Return the default node options in a rcl_node_options_t.

rcl/src/rcl/logging_rosout.c

@@ -173,11 +173,12 @@ rcl_ret_t rcl_logging_rosout_init_publisher_for_node(
   const rosidl_message_type_support_t * type_support =
     rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__Log();
   rcl_publisher_options_t options = rcl_publisher_get_default_options();
-  // Late joining subscriptions get the last 10 seconds of logs, up to 1000 logs.
-  options.qos.depth = 1000;
-  options.qos.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
-  options.qos.lifespan.sec = 10;
-  options.qos.lifespan.nsec = 0;
+
+  // Late joining subscriptions get the user's setting of rosout qos options.
+  const rcl_node_options_t *node_options = rcl_node_get_options(node);
+  RCL_CHECK_FOR_NULL_WITH_MSG(node_options, "Node options was null.", return RCL_RET_ERROR);
+
+  options.qos = node_options->rosout_qos;
   new_entry.publisher = rcl_get_zero_initialized_publisher();
   status =
     rcl_publisher_init(&new_entry.publisher, node, type_support, ROSOUT_TOPIC_NAME, &options);

rcl/src/rcl/node_options.c

@@ -28,9 +28,10 @@ rcl_node_options_t
 rcl_node_get_default_options()
 {
   // !!! MAKE SURE THAT CHANGES TO THESE DEFAULTS ARE REFLECTED IN THE HEADER DOC STRING
-  static rcl_node_options_t default_options = {
+  rcl_node_options_t default_options = {
     .use_global_arguments = true,
     .enable_rosout = true,
+    .rosout_qos = rmw_qos_profile_rosout_default,
   };
   // Must set the allocator after because it is not a compile time constant.
   default_options.allocator = rcl_get_default_allocator();
@@ -56,6 +57,7 @@ rcl_node_options_copy(
   options_out->allocator = options->allocator;
   options_out->use_global_arguments = options->use_global_arguments;
   options_out->enable_rosout = options->enable_rosout;
+  options_out->rosout_qos = options->rosout_qos;
   if (NULL != options->arguments.impl) {
     rcl_ret_t ret = rcl_arguments_copy(&(options->arguments), &(options_out->arguments));
     return ret;