Struct QoSProfile

pub struct QoSProfile {
    pub history: QoSHistoryPolicy,
    pub reliability: QoSReliabilityPolicy,
    pub durability: QoSDurabilityPolicy,
    pub deadline: QoSDuration,
    pub lifespan: QoSDuration,
    pub liveliness: QoSLivelinessPolicy,
    pub liveliness_lease_duration: QoSDuration,
    pub avoid_ros_namespace_conventions: bool,
}

A Quality of Service profile.

See docs.ros.org on Quality of Service settings in general.

In the general case, a topic can have multiple publishers and multiple subscriptions, each with an individual QoS profile. For each publisher-subscription pair, messages are only delivered if their QoS profiles are compatible.

Example

let qos = QoSProfile {
    history: QoSHistoryPolicy::KeepLast { depth: 1 },
    ..QOS_PROFILE_SENSOR_DATA
};

Fields

history: QoSHistoryPolicy

The history policy.

reliability: QoSReliabilityPolicy

The reliability policy.

durability: QoSDurabilityPolicy

The durability policy.

deadline: QoSDuration

The period at which messages are expected to be sent/received.

If this is Infinite, messages never miss a deadline expectation.

lifespan: QoSDuration

The age at which messages are considered expired and no longer valid.

If this is Infinite, messages do not expire.

liveliness: QoSLivelinessPolicy

The liveliness policy.

liveliness_lease_duration: QoSDuration

The time within which the RMW publisher must show that it is alive.

If this is Infinite, liveliness is not enforced.

avoid_ros_namespace_conventions: bool

If true, any ROS specific namespacing conventions will be circumvented.

In the case of DDS and topics, for example, this means the typical ROS specific prefix of rt would not be applied as described here.

This might be useful when trying to directly connect a native DDS topic with a ROS 2 topic.

Implementations

impl QoSProfile

pub fn keep_last(self, depth: u32) -> Self

Sets the QoS profile history to QoSHistoryPolicy::KeepLast with the specified depth.

pub fn keep_all(self) -> Self

Sets the QoS profile history to QoSHistoryPolicy::KeepAll.

pub fn reliable(self) -> Self

Sets the QoS profile reliability to QoSReliabilityPolicy::Reliable.

pub fn best_effort(self) -> Self

Sets the QoS profile reliability to QoSReliabilityPolicy::BestEffort.

pub fn volatile(self) -> Self

Sets the QoS profile durability to QoSDurabilityPolicy::Volatile.

pub fn transient_local(self) -> Self

Sets the QoS profile durability to QoSDurabilityPolicy::TransientLocal.

pub fn deadline(self, deadline: Duration) -> Self

Sets the QoS profile deadline to the specified Duration.

pub fn liveliness_lease_duration(self, lease_duration: Duration) -> Self

Sets the QoS profile liveliness lease duration to the specified Duration.

pub fn lifespan(self, lifespan: Duration) -> Self

Sets the QoS profile lifespan to the specified Duration.

Trait Implementations

impl Clone for QoSProfile

fn clone(&self) -> QoSProfile

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for QoSProfile

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for QoSProfile

Sets the QoSProfile to the RCL default.

fn default() -> Self

Returns the “default value” for a type.

impl Ord for QoSProfile

fn cmp(&self, other: &QoSProfile) -> Ordering

This method returns an Ordering between self and other.

fn max(self, other: Self) -> Self

where Self: Sized,

Compares and returns the maximum of two values.

fn min(self, other: Self) -> Self

where Self: Sized,

Compares and returns the minimum of two values.

fn clamp(self, min: Self, max: Self) -> Self

where Self: Sized,

Restrict a value to a certain interval.

impl PartialEq for QoSProfile

fn eq(&self, other: &QoSProfile) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl PartialOrd for QoSProfile

fn partial_cmp(&self, other: &QoSProfile) -> Option<Ordering>

This method returns an ordering between self and other values if one exists.

fn lt(&self, other: &Rhs) -> bool

Tests less than (for self and other) and is used by the < operator.

fn le(&self, other: &Rhs) -> bool

Tests less than or equal to (for self and other) and is used by the <= operator.

fn gt(&self, other: &Rhs) -> bool

Tests greater than (for self and other) and is used by the > operator.

fn ge(&self, other: &Rhs) -> bool

Tests greater than or equal to (for self and other) and is used by the >= operator.

impl Copy for QoSProfile

impl Eq for QoSProfile

impl StructuralPartialEq for QoSProfile