From e55fa98c4f9c3f0b2f305a97a391cdd64bfeb073 Mon Sep 17 00:00:00 2001 From: Emerson Knapp Date: Thu, 21 Jan 2021 11:40:41 -0800 Subject: [PATCH 1/2] Change all 'fastrtps-unspecified' duration values in test resources to 0 for cross-implementation readability, pending a clarification of the rmw qos duration api Signed-off-by: Emerson Knapp --- README.md | 15 +++++++++------ ros2bag/test/resources/empty_bag/metadata.yaml | 4 ++-- .../test/resources/incomplete_qos_duration.yaml | 2 +- ros2bag/test/resources/qos_profile.yaml | 12 ++++++------ rosbag2_py/resources/talker/metadata.yaml | 6 +++--- rosbag2_tests/resources/cdr_test/metadata.yaml | 4 ++-- .../resources/wrong_rmw_test/metadata.yaml | 4 ++-- 7 files changed, 25 insertions(+), 22 deletions(-) diff --git a/README.md b/README.md index f86ba25b6f..0f46463286 100644 --- a/README.md +++ b/README.md @@ -187,15 +187,18 @@ Below is an example profile set to the default ROS2 QoS settings. reliability: reliable durability: volatile deadline: - sec: 2147483647 # LONG_MAX - nsec: 4294967295 # ULONG_MAX + # unspecified/infinity + sec: 0 + nsec: 0 lifespan: - sec: 2147483647 - nsec: 4294967295 + # unspecified/infinity + sec: 0 + nsec: 0 liveliness: system_default liveliness_lease_duration: - sec: 2147483647 - nsec: 4294967295 + # unspecified/infinity + sec: 0 + nsec: 0 avoid_ros_namespace_conventions: false ``` diff --git a/ros2bag/test/resources/empty_bag/metadata.yaml b/ros2bag/test/resources/empty_bag/metadata.yaml index bf90464011..896d33fc03 100644 --- a/ros2bag/test/resources/empty_bag/metadata.yaml +++ b/ros2bag/test/resources/empty_bag/metadata.yaml @@ -13,13 +13,13 @@ rosbag2_bagfile_information: name: /parameter_events type: rcl_interfaces/msg/ParameterEvent serialization_format: cdr - offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 0\n nsec: 0\n lifespan:\n sec: 0\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 0\n nsec: 0\n avoid_ros_namespace_conventions: false" message_count: 0 - topic_metadata: name: /rosout type: rcl_interfaces/msg/Log serialization_format: cdr - offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 10\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 0\n nsec: 0\n lifespan:\n sec: 10\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 0\n nsec: 0\n avoid_ros_namespace_conventions: false" message_count: 0 compression_format: "" compression_mode: "" diff --git a/ros2bag/test/resources/incomplete_qos_duration.yaml b/ros2bag/test/resources/incomplete_qos_duration.yaml index adc670003d..a27ae1597e 100644 --- a/ros2bag/test/resources/incomplete_qos_duration.yaml +++ b/ros2bag/test/resources/incomplete_qos_duration.yaml @@ -4,4 +4,4 @@ reliability: reliable durability: volatile deadline: - sec: 2147483647 # LONG_MAX + sec: 0 diff --git a/ros2bag/test/resources/qos_profile.yaml b/ros2bag/test/resources/qos_profile.yaml index 4ec1917cf4..a65ddd5b2b 100644 --- a/ros2bag/test/resources/qos_profile.yaml +++ b/ros2bag/test/resources/qos_profile.yaml @@ -4,13 +4,13 @@ reliability: reliable durability: transient_local deadline: - sec: 2147483647 - nsec: 4294967295 + sec: 0 + nsec: 0 lifespan: - sec: 2147483647 - nsec: 4294967295 + sec: 0 + nsec: 0 liveliness: automatic liveliness_lease_duration: - sec: 2147483647 - nsec: 4294967295 + sec: 0 + nsec: 0 avoid_ros_namespace_conventions: false diff --git a/rosbag2_py/resources/talker/metadata.yaml b/rosbag2_py/resources/talker/metadata.yaml index 35db28401c..da247440fc 100644 --- a/rosbag2_py/resources/talker/metadata.yaml +++ b/rosbag2_py/resources/talker/metadata.yaml @@ -13,19 +13,19 @@ rosbag2_bagfile_information: name: /topic type: std_msgs/msg/String serialization_format: cdr - offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 0\n nsec: 0\n lifespan:\n sec: 0\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 0\n nsec: 0\n avoid_ros_namespace_conventions: false" message_count: 10 - topic_metadata: name: /rosout type: rcl_interfaces/msg/Log serialization_format: cdr - offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 10\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 0\n nsec: 0\n lifespan:\n sec: 10\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 0\n nsec: 0\n avoid_ros_namespace_conventions: false" message_count: 10 - topic_metadata: name: /parameter_events type: rcl_interfaces/msg/ParameterEvent serialization_format: cdr - offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 0\n nsec: 0\n lifespan:\n sec: 0\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 0\n nsec: 0\n avoid_ros_namespace_conventions: false" message_count: 0 compression_format: "" compression_mode: "" diff --git a/rosbag2_tests/resources/cdr_test/metadata.yaml b/rosbag2_tests/resources/cdr_test/metadata.yaml index dc50cb4111..6a8fed7f2f 100644 --- a/rosbag2_tests/resources/cdr_test/metadata.yaml +++ b/rosbag2_tests/resources/cdr_test/metadata.yaml @@ -13,13 +13,13 @@ rosbag2_bagfile_information: name: /test_topic type: test_msgs/msg/BasicTypes serialization_format: cdr - offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 0\n nsec: 0\n lifespan:\n sec: 0\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 0\n nsec: 0\n avoid_ros_namespace_conventions: false" message_count: 3 - topic_metadata: name: /array_topic type: test_msgs/msg/Arrays serialization_format: cdr - offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 0\n nsec: 0\n lifespan:\n sec: 0\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 0\n nsec: 0\n avoid_ros_namespace_conventions: false" message_count: 4 compression_format: "" compression_mode: "" diff --git a/rosbag2_tests/resources/wrong_rmw_test/metadata.yaml b/rosbag2_tests/resources/wrong_rmw_test/metadata.yaml index b4fe352e34..47fc7ab0ae 100644 --- a/rosbag2_tests/resources/wrong_rmw_test/metadata.yaml +++ b/rosbag2_tests/resources/wrong_rmw_test/metadata.yaml @@ -13,13 +13,13 @@ rosbag2_bagfile_information: name: /test_topic type: test_msgs/msg/BasicTypes serialization_format: wrong_format - offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 0\n nsec: 0\n lifespan:\n sec: 0\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 0\n nsec: 0\n avoid_ros_namespace_conventions: false" message_count: 3 - topic_metadata: name: /array_topic type: test_msgs/msg/Arrays serialization_format: wrong_format - offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 0\n nsec: 0\n lifespan:\n sec: 0\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 0\n nsec: 0\n avoid_ros_namespace_conventions: false" message_count: 4 compression_format: "" compression_mode: "" From 5ef32b99a99ee3103a66841919b0062dd4a02c6e Mon Sep 17 00:00:00 2001 From: Emerson Knapp Date: Thu, 21 Jan 2021 11:44:35 -0800 Subject: [PATCH 2/2] Add comments to the human-read places Signed-off-by: Emerson Knapp --- ros2bag/test/resources/incomplete_qos_duration.yaml | 2 +- ros2bag/test/resources/qos_profile.yaml | 3 +++ 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/ros2bag/test/resources/incomplete_qos_duration.yaml b/ros2bag/test/resources/incomplete_qos_duration.yaml index a27ae1597e..adf88721e1 100644 --- a/ros2bag/test/resources/incomplete_qos_duration.yaml +++ b/ros2bag/test/resources/incomplete_qos_duration.yaml @@ -4,4 +4,4 @@ reliability: reliable durability: volatile deadline: - sec: 0 + sec: 2 diff --git a/ros2bag/test/resources/qos_profile.yaml b/ros2bag/test/resources/qos_profile.yaml index a65ddd5b2b..9daf5fdf5f 100644 --- a/ros2bag/test/resources/qos_profile.yaml +++ b/ros2bag/test/resources/qos_profile.yaml @@ -4,13 +4,16 @@ reliability: reliable durability: transient_local deadline: + # unspecified/infinity sec: 0 nsec: 0 lifespan: + # unspecified/infinity sec: 0 nsec: 0 liveliness: automatic liveliness_lease_duration: + # unspecified/infinity sec: 0 nsec: 0 avoid_ros_namespace_conventions: false