This PR gets rcl/test_get_actual_qos tests to pass. The main "fixs" here are to ensure any SYSTEM_DEFAULT values are assigned to those expected by the tests. Specifically
Ensuring deadline, lifespan, and liveliness_lease_durations values are updated from their default RMW_DURATION_UNSPECIFIED to RMW_DURATION_INFINITE.
liveliness is set to RMW_QOS_POLICY_LIVELINESS_AUTOMATIC.
I also updated the message callbacks to only pop from the queue if history is not KEEP_ALL.
Lastly, also moved all QoS related functionality to a new header. In a subsequent PR, I will update the liveliness token generation for the QoS portion to check against the default_qos before appending to the liveliness token.
Partially addresses #212.
This PR gets
rcl/test_get_actual_qostests to pass. The main "fixs" here are to ensure any SYSTEM_DEFAULT values are assigned to those expected by the tests. Specificallydeadline,lifespan, andliveliness_lease_durationsvalues are updated from their defaultRMW_DURATION_UNSPECIFIEDtoRMW_DURATION_INFINITE.livelinessis set toRMW_QOS_POLICY_LIVELINESS_AUTOMATIC.I also updated the message callbacks to only pop from the queue if
historyis notKEEP_ALL.Lastly, also moved all QoS related functionality to a new header. In a subsequent PR, I will update the liveliness token generation for the QoS portion to check against the
default_qosbefore appending to the liveliness token.