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Add Galactic feature note for externally configuring QoS #1033

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Jan 21, 2021
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Add Galactic feature note for externally configuring QoS #1033

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Add Galactic feature note for externally configuring QoS
jacobperron Jan 21, 2021
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Update wording
jacobperron Jan 21, 2021
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14 changes: 14 additions & 0 deletions source/Releases/Release-Galactic-Geochelone.rst
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Expand Up @@ -51,6 +51,20 @@ Thus the default value stays the same: ``~/.ros/log``.

Related PRs: `ros2/rcl_logging#53 <https://github.com/ros2/rcl_logging/pull/53>`_ and `ros2/launch#460 <https://github.com/ros2/launch/pull/460>`_.

Externally configure QoS at start-up
------------------------------------

It is now possible to externally configure the QoS settings for a node at start-up time.
QoS settings are **not** configurable during runtime; they are only configurable at start-up.
Node authors must opt-in to enable changing QoS settings at start-up.
If the feature is enabled on a node, then QoS settings can be set with ROS parameters when a node first starts.

`Demos in C++ and Python can be found here. <https://github.com/ros2/demos/tree/a66f0e894841a5d751bce6ded4983acb780448cf/quality_of_service_demo#qos-overrides>`_

See the `design document for more details <http://design.ros2.org/articles/qos_configurability.html>`_.

Related PRs: `ros2/rclcpp#1408 <https://github.com/ros2/rclcpp/pull/1408>`_ and `ros2/rclpy#635 <https://github.com/ros2/rclpy/pull/635>`_

Changes since the Foxy release
------------------------------

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