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Revert "Allow more flexible usage of XML QoS profiles (#460)"
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This reverts commit 2572187.
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@clalancette
clalancette committed Dec 16, 2020
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175 changes: 1 addition & 174 deletions README.md
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Expand Up @@ -24,178 +24,5 @@ Note that the RTI website has [Free Trial](https://www.rti.com/free-trial) offer
## Building
Refer to the [Install DDS Implementations](https://index.ros.org/doc/ros2/Installation/DDS-Implementations) page for details on building rmw_connext for your platform.

## Using Connext XML QoS settings

QoS profiles can be specified in XML according to the load order specified [here](https://community.rti.com/static/documentation/connext-dds/5.2.0/doc/manuals/connext_dds/html_files/RTI_ConnextDDS_CoreLibraries_UsersManual/Content/UsersManual/How_to_Load_XML_Specified_QoS_Settings.htm). `url_profile` and `string_profile` cannot be used.

ROS will use the profile with the `is_default_qos="true"` attribute.
The policies defined in the ROS QoS profile will override those in the default profile, except when `rmw_qos_profile_system_default` is used.

For example:

```xml
<?xml version="1.0"?>
<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/5.3.1/rti_dds_qos_profiles.xsd" version="5.3.1">
<qos_library name="Ros2TestQosLibrary">
<qos_profile name="Ros2TestDefaultQos" base_name="BuiltinQosLib::Baseline.5.3.0" is_default_qos="true">
<participant_qos>
<property>
<value>
<!-- 6.25 MB/sec (52 Mb/sec) flow controller -->
<element>
<name>dds.flow_controller.token_bucket.slow_flow.token_bucket.max_tokens</name>
<value>8</value>
</element>
<element>
<name>dds.flow_controller.token_bucket.slow_flow.token_bucket.tokens_added_per_period</name>
<value>8</value>
</element>
<element>
<name>dds.flow_controller.token_bucket.slow_flow.token_bucket.bytes_per_token</name>
<value>8192</value>
</element>
<element>
<name>dds.flow_controller.token_bucket.slow_flow.token_bucket.period.sec</name>
<value>0</value>
</element>
<element>
<name>dds.flow_controller.token_bucket.slow_flow.token_bucket.period.nanosec</name>
<value>10000000</value>
</element>
</value>
</property>
</participant_qos>

<datawriter_qos topic_filter="rt/my_large_data_topic">
<reliability>
<kind>RELIABLE_RELIABILITY_QOS</kind>
</reliability>
<publish_mode>
<flow_controller_name>dds.flow_controller.token_bucket.slow_flow</flow_controller_name>
</publish_mode>
</datawriter_qos>
</qos_profile>
</qos_library>
</dds>
```

That will force all publishers in the `my_large_data_topic` to use the `slow_flow` flow controller, but the reliability specified in the ROS QoS profile will be used except if its value is `RMW_QOS_RELIABILITY_POLICY_SYSTEM_DEFAULT`.
See `Topic Name Mangling` section to understand the `rt/` prefix.

See [RTI Connext docs](https://community.rti.com/static/documentation/connext-dds/5.2.0/doc/manuals/connext_dds/html_files/RTI_ConnextDDS_CoreLibraries_UsersManual/Content/UsersManual/Topic_Filters.htm) to understand topic filters.

### Overriding ROS specified QoS policies for a topic

To use this feature, you must first set the following environment variable:

```bat
:: Windows
set RMW_CONNEXT_ALLOW_TOPIC_QOS_PROFILES=1
```
```bash
# Linux/MacOS
export RMW_CONNEXT_ALLOW_TOPIC_QOS_PROFILES=1
```

If the environment variable is set, when a profile name matches the dds topic name, it will be used and the ROS specified profile will be ignored.

For example:
```xml
<?xml version="1.0"?>
<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/5.3.1/rti_dds_qos_profiles.xsd" version="5.3.1">
<qos_library name="Ros2TestQosLibrary">
<qos_profile name="Ros2TestDefaultQos" base_name="BuiltinQosLib::Baseline.5.3.0" is_default_qos="true">
<participant_qos>
<property>
<value>
<!-- 6.25 MB/sec (52 Mb/sec) flow controller -->
<element>
<name>dds.flow_controller.token_bucket.slow_flow.token_bucket.max_tokens</name>
<value>8</value>
</element>
<element>
<name>dds.flow_controller.token_bucket.slow_flow.token_bucket.tokens_added_per_period</name>
<value>8</value>
</element>
<element>
<name>dds.flow_controller.token_bucket.slow_flow.token_bucket.bytes_per_token</name>
<value>8192</value>
</element>
<element>
<name>dds.flow_controller.token_bucket.slow_flow.token_bucket.period.sec</name>
<value>0</value>
</element>
<element>
<name>dds.flow_controller.token_bucket.slow_flow.token_bucket.period.nanosec</name>
<value>10000000</value>
</element>
</value>
</property>
</participant_qos>
</qos_profile>
<qos_profile name="rt/my_large_data_topic" base_name="BuiltinQosLib::Baseline.5.3.0">
<datawriter_qos> <!--Don't use topic filters here-->
<publish_mode>
<flow_controller_name>dds.flow_controller.token_bucket.slow_flow</flow_controller_name>
</publish_mode>
<reliability>
<kind>RELIABLE_RELIABILITY_QOS</kind>
</reliability>
</datawriter_qos>
</qos_profile>
</qos_library>
</dds>
```

In this case, all publishers in the topic `/my_large_data_topic` will use the specified slow flow controller and have a reliable reliability (regardless of the reliability specified in ROS code).

Caveats:

- If you want to override the QoS profiles used for all publishers in a topic, the subscription profiles in the same topic will also be overriden. If you don't explicitly provide one, a default will be used.
- RTI Connext will log an error each time that it tries to find a profile that doesn't exist.
Your will see a lot of these logs in your terminal when using `RMW_CONNEXT_ALLOW_TOPIC_QOS_PROFILES` option.

### Specifying an specific QoS library

If you only provided one QoS library to the process, that one will be used.
If not, the `RMW_CONNEXT_QOS_PROFILE_LIBRARY` must be used:
```bat
:: Windows
set RMW_CONNEXT_QOS_PROFILE_LIBRARY=Ros2TestQosLibrary
```
```bash
# Linux/MacOS
export RMW_CONNEXT_QOS_PROFILE_LIBRARY=Ros2TestQosLibrary
```

### Specifying a different default QoS profile

You can use the `RMW_CONNEXT_DEFAULT_QOS_PROFILE` environment variable for this.
It overrides the profile marked with `is_default_qos="true"` when set.
The profile is looked up in the QoS profile library RMW connext is using.

### Using user provided publish mode

ROS is always overriding the QoS profile of datawriters to use `ASYNCHRONOUS_PUBLISH_MODE_QOS`.
To avoid that from being overriden, you can set the following environment variable:

```bat
:: Windows
set RMW_CONNEXT_DO_NOT_OVERRIDE_PUBLICATION_MODE=1
```
```bash
# Linux/MacOS
export RMW_CONNEXT_DO_NOT_OVERRIDE_PUBLICATION_MODE=1
```

## ROS topic name mangling

ROS uses the following mangled topics when the ROS QoS policy `avoid_ros_namespace_conventions` is `false`, which is the default:
- Topics are prefixed with `rt`. e.g.: `/my/fully/qualified/ros/topic` is converted to `rt/my/fully/qualified/ros/topic`.
- The service request topics are prefixed with `rq` and suffixed with `Request`. e.g.: `/my/fully/qualified/ros/service` request topic is `rq/my/fully/qualified/ros/serviceRequest`.
- The service response topics are prefixed with `rr` and suffixed with `Response`. e.g.: `/my/fully/qualified/ros/service` response topic is `rr/my/fully/qualified/ros/serviceResponse`.

## Quality Declaration (per [REP-2004](https://github.com/ros-infrastructure/rep/blob/master/rep-2004.rst))
### Quality Declaration (per [REP-2004](https://github.com/ros-infrastructure/rep/blob/master/rep-2004.rst))
See [RTI Quality Declaration](https://community.rti.com/static/documentation/qa/RTIConnextProQualityDeclaration(REP-2004).pdf) file, hosted on [RTI Community](https://community.rti.com) website.
20 changes: 10 additions & 10 deletions rmw_connext_cpp/src/rmw_client.cpp
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Expand Up @@ -116,23 +116,23 @@ rmw_create_client(
goto fail;
}

// allocating memory for request topic and response topic strings
if (!_process_service_name(
service_name,
qos_profile->avoid_ros_namespace_conventions,
&request_topic_str,
&response_topic_str))
{
if (!get_datareader_qos(participant, *qos_profile, datareader_qos)) {
// error string was set within the function
goto fail;
}

if (!get_datareader_qos(participant, *qos_profile, response_topic_str, datareader_qos)) {
if (!get_datawriter_qos(participant, *qos_profile, datawriter_qos)) {
// error string was set within the function
goto fail;
}

if (!get_datawriter_qos(participant, *qos_profile, request_topic_str, datawriter_qos)) {
// error string was set within the function
// allocating memory for request topic and response topic strings
if (!_process_service_name(
service_name,
qos_profile->avoid_ros_namespace_conventions,
&request_topic_str,
&response_topic_str))
{
goto fail;
}

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7 changes: 3 additions & 4 deletions rmw_connext_cpp/src/rmw_publisher.cpp
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Expand Up @@ -188,15 +188,14 @@ rmw_create_publisher(
// error already set
goto fail;
}
DDS::String_free(topic_str);
topic_str = nullptr;

if (!get_datawriter_qos(participant, *qos_profile, topic_str, datawriter_qos)) {
if (!get_datawriter_qos(participant, *qos_profile, datawriter_qos)) {
// error string was set within the function
goto fail;
}

DDS::String_free(topic_str);
topic_str = nullptr;

topic_writer = dds_publisher->create_datawriter(
topic, datawriter_qos, NULL, DDS::STATUS_MASK_NONE);
if (!topic_writer) {
Expand Down
20 changes: 10 additions & 10 deletions rmw_connext_cpp/src/rmw_service.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -116,23 +116,23 @@ rmw_create_service(
goto fail;
}

// allocating memory for request topic and response topic strings
if (!_process_service_name(
service_name,
qos_profile->avoid_ros_namespace_conventions,
&request_topic_str,
&response_topic_str))
{
if (!get_datareader_qos(participant, *qos_profile, datareader_qos)) {
// error string was set within the function
goto fail;
}

if (!get_datareader_qos(participant, *qos_profile, request_topic_str, datareader_qos)) {
if (!get_datawriter_qos(participant, *qos_profile, datawriter_qos)) {
// error string was set within the function
goto fail;
}

if (!get_datawriter_qos(participant, *qos_profile, response_topic_str, datawriter_qos)) {
// error string was set within the function
// allocating memory for request topic and response topic strings
if (!_process_service_name(
service_name,
qos_profile->avoid_ros_namespace_conventions,
&request_topic_str,
&response_topic_str))
{
goto fail;
}

Expand Down
7 changes: 3 additions & 4 deletions rmw_connext_cpp/src/rmw_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -186,15 +186,14 @@ rmw_create_subscription(
// error already set
goto fail;
}
DDS::String_free(topic_str);
topic_str = nullptr;

if (!get_datareader_qos(participant, *qos_profile, topic_str, datareader_qos)) {
if (!get_datareader_qos(participant, *qos_profile, datareader_qos)) {
// error string was set within the function
goto fail;
}

DDS::String_free(topic_str);
topic_str = nullptr;

topic_reader = dds_subscriber->create_datareader(
topic, datareader_qos,
NULL, DDS::STATUS_MASK_NONE);
Expand Down
2 changes: 0 additions & 2 deletions rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/qos.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,15 +31,13 @@ bool
get_datareader_qos(
DDS::DomainParticipant * participant,
const rmw_qos_profile_t & qos_profile,
const char * dds_topic_name,
DDS::DataReaderQos & datareader_qos);

RMW_CONNEXT_SHARED_CPP_PUBLIC
bool
get_datawriter_qos(
DDS::DomainParticipant * participant,
const rmw_qos_profile_t & qos_profile,
const char * dds_topic_name,
DDS::DataWriterQos & datawriter_qos);

RMW_CONNEXT_SHARED_CPP_PUBLIC
Expand Down
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