Users should have a mechanism to override QoS when subscribing / publishing for topics.
@facontidavide would you prefer this to be done over the blackboard, at compilation time in the derived class, or allowing both (like for the topic name ?)
I have a local version at compile time, but since the subscriber / publisher are created in the constructor, I had to move the initialization part in a public function that take an rclcpp::QoS parameter. This add a bit of boilerplate, as the end user has to call this function in the constructor of it's derived class. If this seems sufficient to you, I can create a PR.
GregoryLeMasurier
commented
5 months ago
Users should have a mechanism to override QoS when subscribing / publishing for topics. @facontidavide would you prefer this to be done over the blackboard, at compilation time in the derived class, or allowing both (like for the topic name ?)
I have a local version at compile time, but since the subscriber / publisher are created in the constructor, I had to move the initialization part in a public function that take an
rclcpp::QoSparameter. This add a bit of boilerplate, as the end user has to call this function in the constructor of it's derived class. If this seems sufficient to you, I can create a PR.Thanks for this amazing library, Cheers