def __init__(self):
super().__init__("simple_publisher")
logger = self.get_logger()
self._num = 0
period = self.declare_parameter("period", 1.0)
depth = self.declare_parameter("qos_depth", 5)
logger.info("param period={}"
.format(period.get_parameter_value().double_value))
logger.info("param qos_depth={}"
.format(depth.get_parameter_value().integer_value))
profile = QoSProfile(depth=depth.get_parameter_value().integer_value)
profile.reliability = QoSReliabilityPolicy.BEST_EFFORT
profile.durability = QoSDurabilityPolicy.TRANSIENT_LOCAL
profile.liveliness = QoSLivelinessPolicy.AUTOMATIC
self._pub = self.create_publisher(SimpleMsg, "sample_topic", profile)
self.create_timer(
period.get_parameter_value().double_value,
self.on_timer_callback)
logger.info("publisher start!")
def __init__(self):
super().__init__('sonar2', namespace='')
# Params
#____________________________________________
# Publishers
#____________________________________________
# toCpu2
# Qos profile
qos_profile_toCpu2 = QoSProfile(
history=QoSHistoryPolicy.KEEP_LAST,
durability=QoSDurabilityPolicy.SYSTEM_DEFAULT,
reliability=QoSReliabilityPolicy.SYSTEM_DEFAULT,
depth=15)
# Additional qos settings
qos_profile_toCpu2.liveliness = QoSLivelinessPolicy.SYSTEM_DEFAULT
qos_profile_toCpu2.deadline.sec = 0
qos_profile_toCpu2.deadline.nsec = 0
qos_profile_toCpu2.lifespan.sec = 0
qos_profile_toCpu2.lifespan.nsec = 0
qos_profile_toCpu2.liveliness_lease_duration.sec = 0
qos_profile_toCpu2.liveliness_lease_duration.nsec = 0
qos_profile_toCpu2.avoid_ros_namespace_conventions = False
self.publisher_toCpu2 = self.create_publisher(
Distance, 'topic/path/s2', qos_profile=qos_profile_toCpu2)
self.timer_toCpu2 = self.create_timer(0.0, self.publisher_call_toCpu2)
self.i = 0
def _getQoSProfile(self):
profile = QoSProfile(depth=10)
profile.reliability = QoSReliabilityPolicy.RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT
profile.durability = QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_VOLATILE
profile.liveliness = QoSLivelinessPolicy.RMW_QOS_POLICY_LIVELINESS_AUTOMATIC
profile.deadline = Duration()
profile.lifespan = Duration()
return profile
def _getQoSProfile(self):
profile = QoSProfile(
history=QoSHistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_ALL)
profile.reliability = QoSReliabilityPolicy.RMW_QOS_POLICY_RELIABILITY_RELIABLE
profile.durability = QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL
profile.liveliness = QoSLivelinessPolicy.RMW_QOS_POLICY_LIVELINESS_AUTOMATIC
profile.deadline = Duration()
profile.lifespan = Duration()
return profile
def __init__(self):
super().__init__('node3', namespace='name/space3')
# Params
#____________________________________________
# Publishers
#____________________________________________
# Subscribers
#____________________________________________
# sub1
# Qos profile
qos_profile_sub1 = QoSPresetProfiles.SYSTEM_DEFAULT.value
self.subscriber_sub1 = self.create_subscription(
M1,
'topic/path1',
self.subscriber_call_sub1,
qos_profile=qos_profile_sub1)
self.subscriber_sub1
#_____
# Servers
#____________________________________________
# Clients
#____________________________________________
# c2
# Qos profile
qos_profile_c2 = QoSProfile(
history=QoSHistoryPolicy.KEEP_ALL,
durability=QoSDurabilityPolicy.SYSTEM_DEFAULT,
reliability=QoSReliabilityPolicy.RELIABLE,
depth=0)
# Additional qos settings
qos_profile_c2.liveliness = QoSLivelinessPolicy.SYSTEM_DEFAULT
qos_profile_c2.deadline.sec = 0
qos_profile_c2.deadline.nsec = 0
qos_profile_c2.lifespan.sec = 0
qos_profile_c2.lifespan.nsec = 0
qos_profile_c2.liveliness_lease_duration.sec = 0
qos_profile_c2.liveliness_lease_duration.nsec = 0
qos_profile_c2.avoid_ros_namespace_conventions = False
self.client_c2 = self.create_client(Addtwo,
'service2',
qos_profile=qos_profile_c2)
def __init__(self):
super().__init__("simple_subscription")
logger = self.get_logger()
self._num = 0
depth = self.declare_parameter("qos_depth", 5)
logger.info("param qos_depth={}".format(
depth.get_parameter_value().integer_value))
profile = QoSProfile(depth=depth.get_parameter_value().integer_value)
profile.reliability = QoSReliabilityPolicy.BEST_EFFORT
profile.durability = QoSDurabilityPolicy.TRANSIENT_LOCAL
profile.liveliness = QoSLivelinessPolicy.AUTOMATIC
self.create_subscription(SimpleMsg, "sample_topic",
self.on_message_callback, profile)
logger.info("subscription start!")
def __init__(self):
super().__init__('node2', namespace='name/space2')
# Params
#____________________________________________
# Publishers
#____________________________________________
# pub1
# Qos profile
qos_profile_pub1 = QoSPresetProfiles.SYSTEM_DEFAULT.value
self.publisher_pub1 = self.create_publisher(
M1, 'topic/path1', qos_profile=qos_profile_pub1)
self.timer_pub1 = self.create_timer(10.0, self.publisher_call_pub1)
self.i = 0
#_____
# Subscribers
#____________________________________________
# Servers
#____________________________________________
# Clients
#____________________________________________
# c1
# Qos profile
qos_profile_c1 = QoSProfile(
history=QoSHistoryPolicy.KEEP_ALL,
durability=QoSDurabilityPolicy.SYSTEM_DEFAULT,
reliability=QoSReliabilityPolicy.RELIABLE,
depth=0)
# Additional qos settings
qos_profile_c1.liveliness = QoSLivelinessPolicy.SYSTEM_DEFAULT
qos_profile_c1.deadline.sec = 0
qos_profile_c1.deadline.nsec = 0
qos_profile_c1.lifespan.sec = 0
qos_profile_c1.lifespan.nsec = 0
qos_profile_c1.liveliness_lease_duration.sec = 0
qos_profile_c1.liveliness_lease_duration.nsec = 0
qos_profile_c1.avoid_ros_namespace_conventions = False
self.client_c1 = self.create_client(Addtwo,
'service1',
qos_profile=qos_profile_c1)
#_____
# Action Servers
#____________________________________________
# as2
self.action_server_as2 = ActionServer(
self,
Dec,
'as2',
execute_callback=self.action_execute_call_as2,
goal_callback=self.action_goal_call_as2,
cancel_callback=self.action_cancel_call_as2)
#_____
# Action Clients
#____________________________________________
# ac1
self.action_client_ac1 = ActionClient(self, Increase, 'ac1')
def main(args=None):
# Argument parsing and usage
parser = get_parser()
parsed_args = parser.parse_args()
# Configuration variables
qos_policy_name = parsed_args.incompatible_qos_policy_name
qos_profile_publisher = QoSProfile(depth=10)
qos_profile_subscription = QoSProfile(depth=10)
if qos_policy_name == 'durability':
print('Durability incompatibility selected.\n'
'Incompatibility condition: publisher durability kind <'
'subscripition durability kind.\n'
'Setting publisher durability to: VOLATILE\n'
'Setting subscription durability to: TRANSIENT_LOCAL\n')
qos_profile_publisher.durability = \
QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_VOLATILE
qos_profile_subscription.durability = \
QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL
elif qos_policy_name == 'deadline':
print(
'Deadline incompatibility selected.\n'
'Incompatibility condition: publisher deadline > subscription deadline.\n'
'Setting publisher durability to: 2 seconds\n'
'Setting subscription durability to: 1 second\n')
qos_profile_publisher.deadline = Duration(seconds=2)
qos_profile_subscription.deadline = Duration(seconds=1)
elif qos_policy_name == 'liveliness_policy':
print('Liveliness Policy incompatibility selected.\n'
'Incompatibility condition: publisher liveliness policy <'
'subscripition liveliness policy.\n'
'Setting publisher liveliness policy to: AUTOMATIC\n'
'Setting subscription liveliness policy to: MANUAL_BY_TOPIC\n')
qos_profile_publisher.liveliness = \
QoSLivelinessPolicy.RMW_QOS_POLICY_LIVELINESS_AUTOMATIC
qos_profile_subscription.liveliness = \
QoSLivelinessPolicy.RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC
elif qos_policy_name == 'liveliness_lease_duration':
print(
'Liveliness lease duration incompatibility selected.\n'
'Incompatibility condition: publisher liveliness lease duration >'
'subscription liveliness lease duration.\n'
'Setting publisher liveliness lease duration to: 2 seconds\n'
'Setting subscription liveliness lease duration to: 1 second\n')
qos_profile_publisher.liveliness_lease_duration = Duration(seconds=2)
qos_profile_subscription.liveliness_lease_duration = Duration(
seconds=1)
elif qos_policy_name == 'reliability':
print(
'Reliability incompatibility selected.\n'
'Incompatibility condition: publisher reliability < subscripition reliability.\n'
'Setting publisher reliability to: BEST_EFFORT\n'
'Setting subscription reliability to: RELIABLE\n')
qos_profile_publisher.reliability = \
QoSReliabilityPolicy.RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT
qos_profile_subscription.reliability = \
QoSReliabilityPolicy.RMW_QOS_POLICY_RELIABILITY_RELIABLE
else:
print('{name} not recognised.'.format(name=qos_policy_name))
parser.print_help()
return 0
# Initialization and configuration
rclpy.init(args=args)
topic = 'incompatible_qos_chatter'
num_msgs = 5
publisher_callbacks = PublisherEventCallbacks(
incompatible_qos=lambda event: get_logger('Talker').info(str(event)))
subscription_callbacks = SubscriptionEventCallbacks(
incompatible_qos=lambda event: get_logger('Listener').info(str(event)))
try:
talker = Talker(topic,
qos_profile_publisher,
event_callbacks=publisher_callbacks,
publish_count=num_msgs)
listener = Listener(topic,
qos_profile_subscription,
event_callbacks=subscription_callbacks)
except UnsupportedEventTypeError as exc:
print()
print(exc, end='\n\n')
print('Please try this demo using a different RMW implementation')
return -1
executor = SingleThreadedExecutor()
executor.add_node(listener)
executor.add_node(talker)
try:
while talker.publish_count < num_msgs:
executor.spin_once()
except KeyboardInterrupt:
pass
rclpy.shutdown()
return 0
def __init__(self):
super().__init__('cpu', namespace='')
# Params
#____________________________________________
# Publishers
#____________________________________________
# toActuators
# Qos profile
qos_profile_toActuators = QoSPresetProfiles.SYSTEM_DEFAULT.value
self.publisher_toActuators = self.create_publisher(
Twist, 'topic/path/act', qos_profile=qos_profile_toActuators)
self.timer_toActuators = self.create_timer(
0.0, self.publisher_call_toActuators)
self.i = 0
#_____
# Subscribers
#____________________________________________
# fromSonar1
# Qos profile
qos_profile_fromSonar1 = QoSProfile(
history=QoSHistoryPolicy.KEEP_LAST,
durability=QoSDurabilityPolicy.SYSTEM_DEFAULT,
reliability=QoSReliabilityPolicy.SYSTEM_DEFAULT,
depth=15)
# Additional qos settings
qos_profile_fromSonar1.liveliness = QoSLivelinessPolicy.SYSTEM_DEFAULT
qos_profile_fromSonar1.deadline.sec = 0
qos_profile_fromSonar1.deadline.nsec = 0
qos_profile_fromSonar1.lifespan.sec = 0
qos_profile_fromSonar1.lifespan.nsec = 0
qos_profile_fromSonar1.liveliness_lease_duration.sec = 0
qos_profile_fromSonar1.liveliness_lease_duration.nsec = 0
qos_profile_fromSonar1.avoid_ros_namespace_conventions = False
self.subscriber_fromSonar1 = self.create_subscription(
Distance,
'topic/path/s1',
self.subscriber_call_fromSonar1,
qos_profile=qos_profile_fromSonar1)
self.subscriber_fromSonar1
#_____
# fromSonar2
# Qos profile
qos_profile_fromSonar2 = QoSProfile(
history=QoSHistoryPolicy.KEEP_LAST,
durability=QoSDurabilityPolicy.SYSTEM_DEFAULT,
reliability=QoSReliabilityPolicy.SYSTEM_DEFAULT,
depth=15)
# Additional qos settings
qos_profile_fromSonar2.liveliness = QoSLivelinessPolicy.SYSTEM_DEFAULT
qos_profile_fromSonar2.deadline.sec = 0
qos_profile_fromSonar2.deadline.nsec = 0
qos_profile_fromSonar2.lifespan.sec = 0
qos_profile_fromSonar2.lifespan.nsec = 0
qos_profile_fromSonar2.liveliness_lease_duration.sec = 0
qos_profile_fromSonar2.liveliness_lease_duration.nsec = 0
qos_profile_fromSonar2.avoid_ros_namespace_conventions = False
self.subscriber_fromSonar2 = self.create_subscription(
Distance,
'topic/path/s2',
self.subscriber_call_fromSonar2,
qos_profile=qos_profile_fromSonar2)
self.subscriber_fromSonar2
def __init__(self):
super().__init__('node1', namespace = '')
# Params
#____________________________________________
# p1 - INTEGER_ARRAY
# Description:
self.param_p1 = self.declare_parameter('p1', 32, descriptor=ParameterDescriptor(name='p1', type=7, description='', additional_constraints='', read_only=False, floating_point_range=[], integer_range=[]))
# You can use your parameter p1 with type INTEGER_ARRAY
# with self.get_parameter('p1')._value
# You can also use your parameter from terminal or yaml file.
#_____
# Publishers
#____________________________________________
# Subscribers
#____________________________________________
# sub1
# Qos profile
qos_profile_sub1 = QoSPresetProfiles.SYSTEM_DEFAULT.value
self.subscriber_sub1 = self.create_subscription(M1, 'topic/path1', self.subscriber_call_sub1, qos_profile = qos_profile_sub1)
self.subscriber_sub1
#_____
# Servers
#____________________________________________
# s1
# Qos profile
qos_profile_s1 = QoSProfile(history = QoSHistoryPolicy.KEEP_ALL, durability = QoSDurabilityPolicy.SYSTEM_DEFAULT, reliability = QoSReliabilityPolicy.RELIABLE, depth =0)
# Additional qos settings
qos_profile_s1.liveliness = QoSLivelinessPolicy.SYSTEM_DEFAULT
qos_profile_s1.deadline.sec = 0
qos_profile_s1.deadline.nsec = 0
qos_profile_s1.lifespan.sec = 0
qos_profile_s1.lifespan.nsec = 0
qos_profile_s1.liveliness_lease_duration.sec = 0
qos_profile_s1.liveliness_lease_duration.nsec = 0
qos_profile_s1.avoid_ros_namespace_conventions = False
self.server_s1 = self.create_service(Addtwo, 'service1', self.server_call_s1, qos_profile = qos_profile_s1)
#_____
# s2
# Qos profile
qos_profile_s2 = QoSProfile(history = QoSHistoryPolicy.KEEP_ALL, durability = QoSDurabilityPolicy.SYSTEM_DEFAULT, reliability = QoSReliabilityPolicy.RELIABLE, depth =0)
# Additional qos settings
qos_profile_s2.liveliness = QoSLivelinessPolicy.SYSTEM_DEFAULT
qos_profile_s2.deadline.sec = 0
qos_profile_s2.deadline.nsec = 0
qos_profile_s2.lifespan.sec = 0
qos_profile_s2.lifespan.nsec = 0
qos_profile_s2.liveliness_lease_duration.sec = 0
qos_profile_s2.liveliness_lease_duration.nsec = 0
qos_profile_s2.avoid_ros_namespace_conventions = False
self.server_s2 = self.create_service(SetBool, 'service2', self.server_call_s2, qos_profile = qos_profile_s2)
#_____
# Clients
#____________________________________________
# Action Servers
#____________________________________________
# as1
self.action_server_as1 = ActionServer(self, Increase, 'as1', execute_callback=self.action_execute_call_as1, goal_callback=self.action_goal_call_as1, cancel_callback=self.action_cancel_call_as1)
#_____
# Action Clients
#____________________________________________
# ac2
self.action_client_ac2 = ActionClient(self, Dec, 'ac2')
