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Add qos parameters to ros2 topic hz #719

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Bjoernolav opened this issue May 30, 2022 · 1 comment · May be fixed by #935
Open

Add qos parameters to ros2 topic hz #719

Bjoernolav opened this issue May 30, 2022 · 1 comment · May be fixed by #935
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enhancement New feature or request help wanted Extra attention is needed

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@Bjoernolav
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Feature description

Currently, the ros2 topic hz verb does not allow the user to specify qos settings.

We had a case where ros2 topic hz did not report the expected frequency. In this case, 12 messages was published at a burst at 10 Hz (resulting in an expected frequency of 120 Hz). The hz verb uses the sensor_data qos profile, which has a queue depth of 5. This caused messags to be dropped, and ros2 topic hz only reporting about 70-80 Hz. Setting up a separate subscriber with a queue depth > 12 we received all the messages.

It would be very nice to be able to specify the qos settings in a similar way as e.g. ros2 topic echo.

Implementation considerations

This could probably be implemented in a similar way as for the other ros2 topic verbs?
@clalancette clalancette added the help wanted Extra attention is needed label May 31, 2022
@clalancette
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Yeah, that would be a fine feature to have. Please consider submitting a pull request implementing this.

@clalancette clalancette added the enhancement New feature or request label May 31, 2022
@EwingKang EwingKang mentioned this issue Dec 18, 2023
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@TonyWelte TonyWelte linked a pull request Sep 17, 2024 that will close this issue
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enhancement New feature or request help wanted Extra attention is needed
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Add support for topic QOS for ros2topic bw, delay and hz TonyWelte/ros2cli
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@clalancette @Bjoernolav