support qos_profile_rosout_default.

Signed-off-by: Tomoya Fujita <[email protected]>

rclpy/rclpy/__init__.py

@@ -49,7 +49,7 @@
 
 from rclpy.context import Context
 from rclpy.parameter import Parameter
-from rclpy.qos import qos_profile_system_default
+from rclpy.qos import qos_profile_rosout_default
 from rclpy.qos import QoSProfile
 from rclpy.signals import install_signal_handlers
 from rclpy.signals import SignalHandlerOptions
@@ -217,7 +217,7 @@ def create_node(
     namespace: Optional[str] = None,
     use_global_arguments: bool = True,
     enable_rosout: bool = True,
-    rosout_qos_profile: Optional[Union[QoSProfile, int]] = qos_profile_system_default,
+    rosout_qos_profile: Optional[Union[QoSProfile, int]] = qos_profile_rosout_default,
     start_parameter_services: bool = True,
     parameter_overrides: Optional[List[Parameter]] = None,
     allow_undeclared_parameters: bool = False,

rclpy/rclpy/impl/_rclpy_pybind11.pyi

@@ -430,7 +430,8 @@ class Timer(Destroyable):
 PredefinedQosProfileTNames = Literal['qos_profile_sensor_data', 'qos_profile_default',
                                      'qos_profile_system_default', 'qos_profile_services_default',
                                      'qos_profile_unknown', 'qos_profile_parameters',
-                                     'qos_profile_parameter_events', 'qos_profile_best_available']
+                                     'qos_profile_parameter_events', 'qos_profile_best_available',
+                                     'qos_profile_rosout_default']
 
 
 class rmw_qos_profile_dict(TypedDict):

rclpy/rclpy/node.py

@@ -74,7 +74,7 @@
 from rclpy.publisher import Publisher
 from rclpy.qos import qos_profile_parameter_events
 from rclpy.qos import qos_profile_services_default
-from rclpy.qos import qos_profile_system_default
+from rclpy.qos import qos_profile_rosout_default
 from rclpy.qos import QoSProfile
 from rclpy.qos_overriding_options import _declare_qos_parameters
 from rclpy.qos_overriding_options import QoSOverridingOptions
@@ -138,7 +138,7 @@ def __init__(
         namespace: Optional[str] = None,
         use_global_arguments: bool = True,
         enable_rosout: bool = True,
-        rosout_qos_profile: Optional[Union[QoSProfile, int]] = qos_profile_system_default,
+        rosout_qos_profile: Optional[Union[QoSProfile, int]] = qos_profile_rosout_default,
         start_parameter_services: bool = True,
         parameter_overrides: Optional[List[Parameter[Any]]] = None,
         allow_undeclared_parameters: bool = False,

rclpy/rclpy/qos.py

@@ -481,13 +481,15 @@ class LivelinessPolicy(QoSPolicyEnum):
 #: can occur due to races with discovery.
 qos_profile_best_available = QoSProfile(**_rclpy.rmw_qos_profile_t.predefined(
     'qos_profile_best_available').to_dict())
-
 # Separate rcl_action profile defined at
 # ros2/rcl : rcl/rcl_action/include/rcl_action/default_qos.h
 #
 #: For actions, using reliable reliability, transient-local durability.
 qos_profile_action_status_default = QoSProfile(**_rclpy.rclpy_action_get_rmw_qos_profile(
     'rcl_action_qos_profile_status_default'))
+#: The default qos profile setting for topic /rosout publisher.
+qos_profile_rosout_default = QoSProfile(**_rclpy.rmw_qos_profile_t.predefined(
+    'qos_profile_rosout_default').to_dict())
 
 
 class QoSPresetProfiles(Enum):
@@ -500,6 +502,7 @@ class QoSPresetProfiles(Enum):
     PARAMETER_EVENTS = qos_profile_parameter_events
     ACTION_STATUS_DEFAULT = qos_profile_action_status_default
     BEST_AVAILABLE = qos_profile_best_available
+    ROSOUT_DEFAULT = qos_profile_rosout_default
 
     """Noted that the following are duplicated from QoSPolicyEnum.
 

rclpy/src/rclpy/qos.cpp

@@ -152,6 +152,9 @@ predefined_qos_profile_from_name(const char * qos_profile_name)
   if (0 == strcmp(qos_profile_name, "qos_profile_best_available")) {
     return rmw_qos_profile_best_available;
   }
+  if (0 == strcmp(qos_profile_name, "qos_profile_rosout_default")) {
+    return rmw_qos_profile_rosout_default;
+  }
 
   std::string error_text = "Requested unknown rmw_qos_profile: ";
   error_text += qos_profile_name;

rclpy/test/test_create_node.py

@@ -16,11 +16,15 @@
 
 import rclpy
 
+from rclpy.duration import Duration
 from rclpy.exceptions import InvalidNamespaceException
 from rclpy.exceptions import InvalidNodeNameException
 from rclpy.parameter import Parameter
-from rclpy.qos import qos_profile_sensor_data
-
+from rclpy.qos import QoSDurabilityPolicy
+from rclpy.qos import QoSHistoryPolicy
+from rclpy.qos import QoSLivelinessPolicy
+from rclpy.qos import QoSProfile
+from rclpy.qos import QoSReliabilityPolicy
 
 class TestCreateNode(unittest.TestCase):
 
@@ -33,6 +37,34 @@ def setUpClass(cls):
     def tearDownClass(cls):
         rclpy.shutdown(context=cls.context)
 
+    def assert_qos_equal(self, expected_qos_profile, actual_qos_profile, *, is_publisher):
+        # Depth and history are skipped because they are not retrieved.
+        self.assertEqual(
+            expected_qos_profile.durability,
+            actual_qos_profile.durability,
+            'Durability is unequal')
+        self.assertEqual(
+            expected_qos_profile.reliability,
+            actual_qos_profile.reliability,
+            'Reliability is unequal')
+        if is_publisher:
+            self.assertEqual(
+                expected_qos_profile.lifespan,
+                actual_qos_profile.lifespan,
+                'lifespan is unequal')
+        self.assertEqual(
+            expected_qos_profile.deadline,
+            actual_qos_profile.deadline,
+            'Deadline is unequal')
+        self.assertEqual(
+            expected_qos_profile.liveliness,
+            actual_qos_profile.liveliness,
+            'liveliness is unequal')
+        self.assertEqual(
+            expected_qos_profile.liveliness_lease_duration,
+            actual_qos_profile.liveliness_lease_duration,
+            'liveliness_lease_duration is unequal')
+
     def test_create_node(self):
         node_name = 'create_node_test'
         rclpy.create_node(node_name, context=self.context).destroy_node()
@@ -88,22 +120,33 @@ def test_create_node_disable_rosout(self):
         namespace = '/ns'
         node = rclpy.create_node(
             node_name, namespace=namespace, context=self.context, enable_rosout=False)
+        # topic /rosout publisher should not exist
+        self.assertFalse(node.get_publishers_info_by_topic('/rosout'))
         node.destroy_node()
 
     def test_create_node_rosout_qos_profile(self):
-        node_name = 'create_node_test_rosout_rosout_qos_profile'
-        namespace = '/ns'
-        node = rclpy.create_node(
-            node_name, namespace=namespace, context=self.context, enable_rosout=True,
-            rosout_qos_profile=qos_profile_sensor_data)
-        node.destroy_node()
-
-    def test_create_node_rosout_qos_depth(self):
-        node_name = 'create_node_test_rosout_rosout_qos_depth'
+        test_qos_profile = QoSProfile(
+            depth=10,
+            history=QoSHistoryPolicy.KEEP_ALL,
+            deadline=Duration(seconds=1, nanoseconds=12345),
+            lifespan=Duration(seconds=20, nanoseconds=9887665),
+            reliability=QoSReliabilityPolicy.BEST_EFFORT,
+            durability=QoSDurabilityPolicy.TRANSIENT_LOCAL,
+            liveliness_lease_duration=Duration(seconds=5, nanoseconds=23456),
+            liveliness=QoSLivelinessPolicy.MANUAL_BY_TOPIC)
+        node_name = 'create_node_test_rosout_qos_profile'
         namespace = '/ns'
         node = rclpy.create_node(
             node_name, namespace=namespace, context=self.context, enable_rosout=True,
-            rosout_qos_profile=10)
+            rosout_qos_profile=test_qos_profile)
+        publisher_list = node.get_publishers_info_by_topic('/rosout')
+        # only test node /rosout topic publisher should exist
+        self.assertEqual(1, len(publisher_list))
+        self.assertEqual(node.get_name(), publisher_list[0].node_name)
+        self.assertEqual(node.get_namespace(), publisher_list[0].node_namespace)
+        actual_qos_profile = publisher_list[0].qos_profile
+        # QoS should match except depth and history cz that are not retrieved from rmw.
+        self.assert_qos_equal(test_qos_profile, actual_qos_profile, is_publisher=True)
         node.destroy_node()