autoware_qos_utils

Autoware QoS Utils provides QoS compatibility utilities for different ROS 2 distributions.

Overview

This package provides compatibility functions for QoS (Quality of Service) configuration across different ROS 2 distributions, particularly addressing the API changes introduced in ROS 2 Jazzy.

Features

• QoS Compatibility: Provides unified QoS configuration functions that work across ROS 2 distributions
• Service QoS: Compatible service QoS configuration for both old and new ROS 2 APIs
• Topic QoS: Compatible default topic QoS configuration
• Header-Only: Pure header-only library with no compilation overhead

Usage

Service QoS

#include <autoware/qos_utils/qos_compatibility.hpp>

// Create a service client with compatible QoS
auto client = node->create_client<MyService>(
  "my_service",
  AUTOWARE_DEFAULT_SERVICES_QOS_PROFILE()
);

// Create a service with compatible QoS
auto service = node->create_service<MyService>(
  "my_service",
  callback,
  AUTOWARE_DEFAULT_SERVICES_QOS_PROFILE()
);

Topic QoS

#include <autoware/qos_utils/qos_compatibility.hpp>

// Create a publisher with compatible QoS
auto publisher = node->create_publisher<MyMessage>(
  "my_topic",
  AUTOWARE_DEFAULT_TOPIC_QOS_PROFILE()
);

// Create a subscription with compatible QoS
auto subscription = node->create_subscription<MyMessage>(
  "my_topic",
  10,
  callback,
  AUTOWARE_DEFAULT_TOPIC_QOS_PROFILE()
);

API Reference

Macros

• AUTOWARE_DEFAULT_SERVICES_QOS_PROFILE(): Expands to service QoS profile compatible with current ROS 2 distribution
• AUTOWARE_DEFAULT_TOPIC_QOS_PROFILE(): Expands to topic QoS profile compatible with current ROS 2 distribution

ROS 2 Distribution Compatibility

Implementation Details

The package uses conditional compilation to provide the appropriate QoS configuration:

• Service QoS: Uses C++ interface (rclcpp::ServicesQoS()) for better compatibility
• Topic QoS: Uses appropriate interface based on ROS 2 distribution
• Zero Runtime Overhead: All macros expand to direct expressions for optimal performance

Dependencies

• rclcpp: ROS 2 C++ client library

License

Apache License 2.0