update to be compatible with latest rclcpp API

Signed-off-by: Miaofei <[email protected]>

test_quality_of_service/include/test_quality_of_service/qos_test_node.hpp

@@ -27,7 +27,8 @@ class QosTestNode : public rclcpp::Node
 public:
   QosTestNode(
     const std::string & name,
-    const std::string & topic);
+    const std::string & topic,
+    const rclcpp::QoS & qos_options);
 
   virtual ~QosTestNode();
 
@@ -57,10 +58,13 @@ class QosTestNode : public rclcpp::Node
    * \return the incremented count
    */
   int increment_count();
+
   /// name of this publisher (Node)
   const std::string name_;
   /// topic name to publish
   const std::string topic_;
+  /// qos options needed for QoS settings
+  const rclcpp::QoS qos_options_;
 
 private:
   /// simple counter used for this node's measurements

test_quality_of_service/include/test_quality_of_service/qos_test_publisher.hpp

@@ -31,6 +31,7 @@ class QosTestPublisher : public QosTestNode
   QosTestPublisher(
     const std::string & name,
     const std::string & topic,
+    const rclcpp::QoS & qos_options,
     const rclcpp::PublisherOptions & publisher_options,
     const std::chrono::milliseconds & publish_period);
 
@@ -46,12 +47,13 @@ class QosTestPublisher : public QosTestNode
   void setup_start() override;
   void setup_stop() override;
 
-  /// publisher options needed for QoS settings
+  /// publisher options needed for QoS callbacks
   const rclcpp::PublisherOptions publisher_options_;
   /// publishing period
   const std::chrono::milliseconds publish_period_;
   /// the timer of this publisher
   rclcpp::TimerBase::SharedPtr timer_;
+
   rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
 };
 

test_quality_of_service/include/test_quality_of_service/qos_test_subscriber.hpp

@@ -30,6 +30,7 @@ class QosTestSubscriber : public QosTestNode
   QosTestSubscriber(
     const std::string & name,
     const std::string & topic,
+    const rclcpp::QoS & qos_options,
     const rclcpp::SubscriptionOptions & sub_options);
 
   virtual ~QosTestSubscriber() = default;
@@ -45,8 +46,9 @@ class QosTestSubscriber : public QosTestNode
   void setup_stop() override;
 
 private:
-  /// subscription options needed for QoS settings
+  /// subscription options needed for QoS callbacks
   const rclcpp::SubscriptionOptions sub_options_;
+
   rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
 };
 

test_quality_of_service/test/qos_test_node.cpp

@@ -22,10 +22,12 @@
 
 QosTestNode::QosTestNode(
   const std::string & name,
-  const std::string & topic)
+  const std::string & topic,
+  const rclcpp::QoS & qos_options)
 : Node(name),
   name_(name),
   topic_(topic),
+  qos_options_(qos_options),
   count_(0),
   started_(false)
 {}

test_quality_of_service/test/qos_test_publisher.cpp

@@ -20,15 +20,17 @@
 QosTestPublisher::QosTestPublisher(
   const std::string & name,
   const std::string & topic,
+  const rclcpp::QoS & qos_options,
   const rclcpp::PublisherOptions & publisher_options,
   const std::chrono::milliseconds & publish_period)
-: QosTestNode(name, topic),
+: QosTestNode(name, topic, qos_options),
   publisher_options_(publisher_options),
   publish_period_(publish_period),
   timer_(nullptr)
 {
   RCLCPP_INFO(this->get_logger(), "created publisher %s %s\n", name.c_str(), topic.c_str());
-  publisher_ = this->create_publisher<std_msgs::msg::String>(topic_, 10, publisher_options_);
+  publisher_ = this->create_publisher<std_msgs::msg::String>(
+    topic_, qos_options_, publisher_options_);
 }
 
 void QosTestPublisher::publish_message()

test_quality_of_service/test/qos_test_subscriber.cpp

@@ -27,8 +27,9 @@ using std::placeholders::_1;
 QosTestSubscriber::QosTestSubscriber(
   const std::string & name,
   const std::string & topic,
+  const rclcpp::QoS & qos_options,
   const rclcpp::SubscriptionOptions & sub_options)
-: QosTestNode(name, topic),
+: QosTestNode(name, topic, qos_options),
   sub_options_(sub_options),
   subscription_(nullptr)
 {
@@ -48,8 +49,8 @@ void QosTestSubscriber::setup_start()
   if (!subscription_) {
     subscription_ = create_subscription<std_msgs::msg::String>(
       topic_,
+      qos_options_,
       std::bind(&QosTestSubscriber::listen_to_message, this, _1),
-      10,
       sub_options_);
   }
 }

test_quality_of_service/test/test_deadline.cpp

@@ -34,19 +34,17 @@ using namespace std::chrono_literals;
 TEST_F(QosRclcppTestFixture, test_deadline_no_publisher) {
   const std::chrono::milliseconds deadline_duration = 1s;
   const std::chrono::milliseconds test_duration = 10500ms;
-  const std::tuple<size_t, size_t> deadline_duration_tuple = convert_chrono_milliseconds_to_size_t(
-    deadline_duration);
   const int expected_number_of_deadline_callbacks = test_duration / deadline_duration;
 
   int total_number_of_subscriber_deadline_events = 0;
   int last_sub_count = 0;
 
-  rmw_qos_profile_t qos_profile = rmw_qos_profile_default;
-  std::tie(qos_profile.deadline.sec, qos_profile.deadline.nsec) = deadline_duration_tuple;
+  // define qos profile
+  rclcpp::QoS qos_profile(10);
+  qos_profile.deadline(deadline_duration);
 
   // setup subscription options and callback
   rclcpp::SubscriptionOptions subscriber_options;
-  subscriber_options.qos_profile = qos_profile;
   subscriber_options.event_callbacks.deadline_callback =
     [&last_sub_count,
     &total_number_of_subscriber_deadline_events](rclcpp::QOSDeadlineRequestedInfo & event) -> void
@@ -63,9 +61,10 @@ TEST_F(QosRclcppTestFixture, test_deadline_no_publisher) {
   const std::string topic("test_deadline_no_publisher");
 
   // register a publisher for the topic but don't publish anything or use QoS options
-  publisher = std::make_shared<QosTestPublisher>("publisher", topic, publisher_options,
-      test_duration);
-  subscriber = std::make_shared<QosTestSubscriber>("subscriber", topic, subscriber_options);
+  publisher = std::make_shared<QosTestPublisher>(
+    "publisher", topic, qos_profile, publisher_options, test_duration);
+  subscriber = std::make_shared<QosTestSubscriber>(
+    "subscriber", topic, qos_profile, subscriber_options);
 
   executor->add_node(subscriber);
   subscriber->start();
@@ -83,8 +82,6 @@ TEST_F(QosRclcppTestFixture, test_deadline_no_publisher) {
 TEST_F(QosRclcppTestFixture, test_deadline) {
   int expected_number_of_events = 5;
   const std::chrono::milliseconds deadline_duration = 1s;
-  const std::tuple<size_t, size_t> deadline_duration_tuple = convert_chrono_milliseconds_to_size_t(
-    deadline_duration);
   const std::chrono::milliseconds max_test_length = 10s;
   const std::chrono::milliseconds publish_rate = deadline_duration / expected_number_of_events;
 
@@ -94,12 +91,11 @@ TEST_F(QosRclcppTestFixture, test_deadline) {
   int last_pub_count = 0;
   int last_sub_count = 0;
 
-  rmw_qos_profile_t qos_profile = rmw_qos_profile_default;
-  std::tie(qos_profile.deadline.sec, qos_profile.deadline.nsec) = deadline_duration_tuple;
+  rclcpp::QoS qos_profile(10);
+  qos_profile.deadline(deadline_duration);
 
   // setup subscription options and callback
   rclcpp::SubscriptionOptions subscriber_options;
-  subscriber_options.qos_profile = qos_profile;
   subscriber_options.event_callbacks.deadline_callback =
     [&last_sub_count,
     &total_number_of_subscriber_deadline_events](rclcpp::QOSDeadlineRequestedInfo & event) -> void
@@ -113,7 +109,6 @@ TEST_F(QosRclcppTestFixture, test_deadline) {
 
   // setup publishing options and callback
   rclcpp::PublisherOptions publisher_options;
-  publisher_options.qos_profile = qos_profile;
   publisher_options.event_callbacks.deadline_callback =
     [&last_pub_count,
     &total_number_of_publisher_deadline_events](rclcpp::QOSDeadlineOfferedInfo & event) -> void
@@ -127,9 +122,10 @@ TEST_F(QosRclcppTestFixture, test_deadline) {
 
   const std::string topic("test_deadline");
 
-  publisher = std::make_shared<QosTestPublisher>("publisher", topic, publisher_options,
-      publish_rate);
-  subscriber = std::make_shared<QosTestSubscriber>("subscriber", topic, subscriber_options);
+  publisher = std::make_shared<QosTestPublisher>(
+    "publisher", topic, qos_profile, publisher_options, publish_rate);
+  subscriber = std::make_shared<QosTestSubscriber>(
+    "subscriber", topic, qos_profile, subscriber_options);
 
   // toggle publishing on and off to force deadline events
   rclcpp::TimerBase::SharedPtr toggle_publisher_timer = subscriber->create_wall_timer(

test_quality_of_service/test/test_lifespan.cpp

@@ -32,33 +32,28 @@ using namespace std::chrono_literals;
 
 TEST_F(QosRclcppTestFixture, test_deadline) {
   const std::chrono::milliseconds lifespan_duration = 1s;
-  const std::tuple<size_t, size_t> message_lifespan = convert_chrono_milliseconds_to_size_t(
-    lifespan_duration);
   const int history = 2;
   const std::chrono::milliseconds max_test_length = 11s;
   const int expected_published = max_test_length / lifespan_duration * 2;
   const std::chrono::milliseconds publish_period = 500ms;
 
   // define qos profile
-  rmw_qos_profile_t qos_profile = rmw_qos_profile_default;
-
-  qos_profile.depth = history;
-  qos_profile.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
-  std::tie(qos_profile.deadline.sec, qos_profile.deadline.nsec) = message_lifespan;
+  rclcpp::QoS qos_profile(history);
+  qos_profile.durability(RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
+  qos_profile.lifespan(lifespan_duration);
 
   // subscription options
   rclcpp::SubscriptionOptions subscriber_options;
-  subscriber_options.qos_profile = qos_profile;
 
   // publisher options
   rclcpp::PublisherOptions publisher_options;
-  publisher_options.qos_profile = qos_profile;
 
   std::string topic = "test_lifespan";
 
-  publisher = std::make_shared<QosTestPublisher>("publisher", topic, publisher_options,
-      publish_period);
-  subscriber = std::make_shared<QosTestSubscriber>("subscriber", topic, subscriber_options);
+  publisher = std::make_shared<QosTestPublisher>(
+    "publisher", topic, qos_profile, publisher_options, publish_period);
+  subscriber = std::make_shared<QosTestSubscriber>(
+    "subscriber", topic, qos_profile, subscriber_options);
 
   int timer_fired_count = 0;
   // toggle publishing on and off to force deadline events

test_quality_of_service/test/test_liveliness.cpp

@@ -40,21 +40,17 @@ TEST_F(QosRclcppTestFixture, test_automatic_liveliness_changed) {
   const std::chrono::milliseconds kill_publisher_after = 2s;
   const std::chrono::milliseconds publish_period = 200ms;
   int number_of_published_messages = 0;
-  const std::tuple<size_t, size_t> liveliness_lease_tuple =
-    convert_chrono_milliseconds_to_size_t(1s);
+  const std::chrono::milliseconds lease_duration = 1s;
 
   int total_number_of_liveliness_events = 0;
 
-  rmw_qos_profile_t qos_profile = rmw_qos_profile_default;
-  // define liveliness policy
-  qos_profile.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
-
-  std::tie(qos_profile.deadline.sec, qos_profile.deadline.nsec) = liveliness_lease_tuple;
+  // define qos profile
+  rclcpp::QoS qos_profile(10);
+  qos_profile.liveliness(RMW_QOS_POLICY_LIVELINESS_AUTOMATIC);
+  qos_profile.liveliness_lease_duration(lease_duration);
 
   // subscription options
   rclcpp::SubscriptionOptions subscriber_options;
-  subscriber_options.qos_profile = qos_profile;
-
   // subscriber Liveliness callback event
   subscriber_options.event_callbacks.liveliness_callback =
     [&total_number_of_liveliness_events](rclcpp::QOSLivelinessChangedInfo & event) -> void
@@ -80,20 +76,18 @@ TEST_F(QosRclcppTestFixture, test_automatic_liveliness_changed) {
 
   // publisher options
   rclcpp::PublisherOptions publisher_options;
-  publisher_options.qos_profile = qos_profile;
-
-//  publisher_options.event_callbacks.liveliness_callback =
-//    [](rclcpp::QOSLivelinessLostInfo & event) -> void
-//    {
-//      RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "=====QOSLivelinessLostInfo callback fired");
-//    };
+  publisher_options.event_callbacks.liveliness_callback =
+    [](rclcpp::QOSLivelinessLostInfo & /*event*/) -> void
+    {
+      RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "=====QOSLivelinessLostInfo callback fired");
+    };
 
   std::string topic("test_automatic_liveliness_changed");
 
-  publisher = std::make_shared<QosTestPublisher>("publisher", topic, publisher_options,
-      publish_period);
-
-  subscriber = std::make_shared<QosTestSubscriber>("subscriber", topic, subscriber_options);
+  publisher = std::make_shared<QosTestPublisher>(
+    "publisher", topic, qos_profile, publisher_options, publish_period);
+  subscriber = std::make_shared<QosTestSubscriber>(
+    "subscriber", topic, qos_profile, subscriber_options);
 
   int timer_fired_count = 0;
   // kill the publisher after a predetermined amount of time