add QoS Profile/Depth support to Node.

rclpy/rclpy/__init__.py

@@ -45,9 +45,12 @@
 from typing import Optional
 from typing import Type
 from typing import TYPE_CHECKING
+from typing import Union
 
 from rclpy.context import Context
 from rclpy.parameter import Parameter
+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
 from rclpy.signals import uninstall_signal_handlers
@@ -214,6 +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_rosout_default,
     start_parameter_services: bool = True,
     parameter_overrides: Optional[List[Parameter]] = None,
     allow_undeclared_parameters: bool = False,
@@ -233,6 +237,10 @@ def create_node(
     :param use_global_arguments: ``False`` if the node should ignore process-wide command line
         arguments.
     :param enable_rosout: ``False`` if the node should ignore rosout logging.
+    :param rosout_qos_profile: A QoSProfile or a history depth to apply to rosout publisher.
+        In the case that a history depth is provided, the QoS history is set to KEEP_LAST,
+        the QoS history depth is set to the value of the parameter,
+        and all other QoS settings are set to their default values.
     :param start_parameter_services: ``False`` if the node should not create parameter services.
     :param parameter_overrides: A list of :class:`.Parameter` which are used to override the
         initial values of parameters declared on this node.
@@ -251,6 +259,7 @@ def create_node(
         node_name, context=context, cli_args=cli_args, namespace=namespace,
         use_global_arguments=use_global_arguments,
         enable_rosout=enable_rosout,
+        rosout_qos_profile=rosout_qos_profile,
         start_parameter_services=start_parameter_services,
         parameter_overrides=parameter_overrides,
         allow_undeclared_parameters=allow_undeclared_parameters,

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

@@ -73,6 +73,7 @@
 from rclpy.parameter_service import ParameterService
 from rclpy.publisher import Publisher
 from rclpy.qos import qos_profile_parameter_events
+from rclpy.qos import qos_profile_rosout_default
 from rclpy.qos import qos_profile_services_default
 from rclpy.qos import QoSProfile
 from rclpy.qos_overriding_options import _declare_qos_parameters
@@ -139,6 +140,7 @@ def __init__(
         namespace: Optional[str] = None,
         use_global_arguments: bool = True,
         enable_rosout: bool = True,
+        rosout_qos_profile: Optional[Union[QoSProfile, int]] = qos_profile_rosout_default,
         start_parameter_services: bool = True,
         parameter_overrides: Optional[List[Parameter[Any]]] = None,
         allow_undeclared_parameters: bool = False,
@@ -159,6 +161,10 @@ def __init__(
         :param use_global_arguments: ``False`` if the node should ignore process-wide command line
             args.
         :param enable_rosout: ``False`` if the node should ignore rosout logging.
+        :param rosout_qos_profile: A QoSProfile or a history depth to apply to rosout publisher.
+            In the case that a history depth is provided, the QoS history is set to KEEP_LAST
+            the QoS history depth is set to the value of the parameter,
+            and all other QoS settings are set to their default value.
         :param start_parameter_services: ``False`` if the node should not create parameter
             services.
         :param parameter_overrides: A list of overrides for initial values for parameters declared
@@ -196,6 +202,8 @@ def __init__(
         if self._context.handle is None or not self._context.ok():
             raise NotInitializedException('cannot create node')
 
+        rosout_qos_profile = self._validate_qos_or_depth_parameter(rosout_qos_profile)
+
         with self._context.handle:
             try:
                 self.__node = _rclpy.Node(
@@ -204,7 +212,8 @@ def __init__(
                     self._context.handle,
                     cli_args,
                     use_global_arguments,
-                    enable_rosout
+                    enable_rosout,
+                    rosout_qos_profile.get_c_qos_profile()
                 )
             except ValueError:
                 # these will raise more specific errors if the name or namespace is bad

rclpy/rclpy/qos.py

@@ -479,13 +479,15 @@ 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):
@@ -498,6 +500,7 @@ 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/node.cpp

@@ -408,7 +408,8 @@ Node::Node(
   Context & context,
   py::object pycli_args,
   bool use_global_arguments,
-  bool enable_rosout)
+  bool enable_rosout,
+  py::object rosout_qos_profile)
 : context_(context)
 {
   rcl_ret_t ret;
@@ -500,6 +501,10 @@ Node::Node(
   options.arguments = arguments;
   options.enable_rosout = enable_rosout;
 
+  if (!rosout_qos_profile.is_none()) {
+    options.rosout_qos = rosout_qos_profile.cast<rmw_qos_profile_t>();
+  }
+
   ret = rcl_node_init(
     rcl_node_.get(), node_name, namespace_, context.rcl_ptr(), &options);
 
@@ -581,7 +586,7 @@ void
 define_node(py::object module)
 {
   py::class_<Node, Destroyable, std::shared_ptr<Node>>(module, "Node")
-  .def(py::init<const char *, const char *, Context &, py::object, bool, bool>())
+  .def(py::init<const char *, const char *, Context &, py::object, bool, bool, py::object>())
   .def_property_readonly(
     "pointer", [](const Node & node) {
       return reinterpret_cast<size_t>(node.rcl_ptr());

rclpy/src/rclpy/node.hpp

@@ -45,14 +45,16 @@ class Node : public Destroyable, public std::enable_shared_from_this<Node>
    * \param[in] pycli_args a sequence of command line arguments for just this node, or None
    * \param[in] use_global_arguments if true then the node will also use cli arguments on context
    * \param[in] enable rosout if true then enable rosout logging
+   * \param[in] rosout_qos_profile rmw_qos_profile_t object for rosout publisher.
    */
   Node(
     const char * node_name,
     const char * namespace_,
     Context & context,
     py::object pycli_args,
     bool use_global_arguments,
-    bool enable_rosout);
+    bool enable_rosout,
+    py::object rosout_qos_profile);
 
   /// Get the fully qualified name of the node.
   /**

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

@@ -16,9 +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 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):
@@ -32,6 +38,34 @@ 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) -> None:
         node_name = 'create_node_test'
         rclpy.create_node(node_name, context=self.context).destroy_node()
@@ -82,6 +116,40 @@ def test_create_node_with_parameter_overrides(self) -> None:
             ]
         ).destroy_node()
 
+    def test_create_node_disable_rosout(self):
+        node_name = 'create_node_test_disable_rosout'
+        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):
+        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=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()
+
 
 if __name__ == '__main__':
     unittest.main()