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Default subscriber QOS to BestEffort, account for TRANSIENT_LOCAL #991

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Default subscriber QOS to BestEffort, account for TRANSIENT_LOCAL #991

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2dca48d
use permissive QoS to ensure compatibilty with publishers
zflat Oct 1, 2023
0127a06
use RELIABLE qos if publisher found to be TRANSIENT_LOCAL
aosmw Oct 23, 2024
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9 changes: 7 additions & 2 deletions rosbridge_library/src/rosbridge_library/internal/subscribers.py
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Original file line number Diff line number Diff line change
Expand Up @@ -106,18 +106,23 @@ def __init__(self, topic, client_id, callback, node_handle, msg_type=None, raw=F
# incompatible. Here we make a "best effort" attempt to match existing
# publishers for the requested topic. This is not perfect because more
# publishers may come online after our subscriber is set up, but we try
# to provide sane defaults. For more information, see:
# to provide sane defaults.
# For this reason we use volatile durability and best effort reliability
# to prioritize topic compatibility when the publisher policy is not known.
# For more information, see:
# - https://docs.ros.org/en/rolling/Concepts/About-Quality-of-Service-Settings.html
# - https://github.com/RobotWebTools/rosbridge_suite/issues/551
# - https://github.com/RobotWebTools/rosbridge_suite/issues/769
qos = QoSProfile(
depth=10,
durability=DurabilityPolicy.VOLATILE,
reliability=ReliabilityPolicy.RELIABLE,
reliability=ReliabilityPolicy.BEST_EFFORT,
)

infos = node_handle.get_publishers_info_by_topic(topic)
if any(pub.qos_profile.durability == DurabilityPolicy.TRANSIENT_LOCAL for pub in infos):
qos.durability = DurabilityPolicy.TRANSIENT_LOCAL
qos.reliability = ReliabilityPolicy.RELIABLE
if any(pub.qos_profile.reliability == ReliabilityPolicy.BEST_EFFORT for pub in infos):
qos.reliability = ReliabilityPolicy.BEST_EFFORT

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