Skip to content

Disable adaptive qos subscription for now #348

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
emersonknapp merged 2 commits into from
Apr 3, 2020
Merged

Disable adaptive qos subscription for now #348

Show file tree
Hide file tree
Changes from 1 commit
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
dcdffd3
Disable adaptive qos subscription for now until we get it working on …
emersonknapp Apr 3, 2020
48411ab
Fix inverted disabling logic
emersonknapp Apr 3, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 7 additions & 0 deletions rosbag2_transport/src/rosbag2_transport/recorder.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -102,9 +102,11 @@ void Recorder::topics_discovery(
while (rclcpp::ok()) {
auto topics_to_subscribe =
get_requested_or_available_topics(requested_topics, include_hidden_topics);
#ifdef ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION
for (const auto & topic_and_type : topics_to_subscribe) {
warn_if_new_qos_for_subscribed_topic(topic_and_type.first);
}
#endif // ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION
auto missing_topics = get_missing_topics(topics_to_subscribe);
subscribe_topics(missing_topics);

Expand Down Expand Up @@ -160,7 +162,12 @@ void Recorder::subscribe_topic(const rosbag2_storage::TopicMetadata & topic)
// that callback called before we reached out the line: writer_->create_topic(topic)
writer_->create_topic(topic);

// TODO(emersonknapp) re-enable common_qos_or_fallback once the cyclone situation is resolved
#ifdef ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION
Rosbag2QoS subscription_qos{};
#else
Rosbag2QoS subscription_qos{common_qos_or_fallback(topic.name)};
#endif // ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION
auto subscription = create_subscription(topic.name, topic.type, subscription_qos);
if (subscription) {
subscriptions_.insert({topic.name, subscription});
Expand Down
4 changes: 2 additions & 2 deletions rosbag2_transport/test/rosbag2_transport/test_record.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,7 @@ TEST_F(RecordIntegrationTestFixture, published_messages_from_multiple_topics_are
EXPECT_THAT(array_messages[0]->float32_values, Eq(array_message->float32_values));
}

#ifdef ENABLE_TEST_QOS_IS_STORED_IN_METADATA
#ifdef ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION
TEST_F(RecordIntegrationTestFixture, qos_is_stored_in_metadata)
{
auto string_message = get_messages_strings()[1];
Expand Down Expand Up @@ -99,7 +99,6 @@ TEST_F(RecordIntegrationTestFixture, qos_is_stored_in_metadata)
" avoid_ros_namespace_conventions: false"
));
}
#endif // ENABLE_TEST_QOS_IS_STORED_IN_METADATA

TEST_F(RecordIntegrationTestFixture, records_sensor_data)
{
Expand Down Expand Up @@ -141,3 +140,4 @@ TEST_F(RecordIntegrationTestFixture, records_sensor_data)
EXPECT_EQ(recorded_topics.size(), 1u);
EXPECT_FALSE(recorded_messages.empty());
}
#endif // ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION
2 changes: 2 additions & 0 deletions rosbag2_transport/test/rosbag2_transport/test_rosbag2_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -260,6 +260,7 @@ TEST_F(RosBag2NodeFixture, get_all_topics_with_types_returns_all_topics)
EXPECT_THAT(topics_and_types.find(third_topic)->second, StrEq("test_msgs/msg/Strings"));
}

#ifdef ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION
TEST_F(RosBag2NodeFixture, mixed_qos_falls_back_to_default)
{
using clock = std::chrono::system_clock;
Expand Down Expand Up @@ -306,3 +307,4 @@ TEST_F(RosBag2NodeFixture, mixed_qos_falls_back_to_default)
rclcpp::shutdown();
recording_future.get();
}
#endif // ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION