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Do not force asynchronous publishing #343

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Do not force asynchronous publishing #343

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1b44e08
Do not force asynchronous publishing mode
EduPonz Dec 26, 2019
25c4c20
Update README
EduPonz Dec 26, 2019
117cf16
Apply changes on rmw_fastrtps_dynamic_cpp
MiguelCompany Jan 13, 2020
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15 changes: 4 additions & 11 deletions README.md
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Expand Up @@ -28,21 +28,19 @@ You can however set it to `rmw_fastrtps_dynamic_cpp` using the environment varia

## Advance usage

`rmw_fastrtps` sets some of the Fast-RTPS configurable parameters:
* History memory policy: `PREALLOCATED_WITH_REALLOC_MEMORY_MODE`
* Publication mode: `ASYNCHRONOUS_PUBLISH_MODE`
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`rmw_fastrtps` sets Fast-RTPS history memory policy to `PREALLOCATED_WITH_REALLOC_MEMORY_MODE`

However, it is possible to fully configure Fast-RTPS (including the history memory policy and the publication mode) using an XML file as described in [Fast-RTPS documentation](https://eprosima-fast-rtps.readthedocs.io/en/latest/xmlprofiles.html).
However, it is possible to fully configure Fast-RTPS (including the history memory policy) using an XML file as described in [Fast-RTPS documentation](https://eprosima-fast-rtps.readthedocs.io/en/latest/xmlprofiles.html).
Then, you just need to set environment variable `RMW_FASTRTPS_USE_QOS_FROM_XML` to 1 (it is set to 0 by default).
This tells `rmw_fastrtps` that it should not override neither the history memory policy nor the publication mode.
This tells `rmw_fastrtps` that it should not override the history memory policy.

You have two ways of telling you ROS 2 application which XML to use:
1. Placing your XML file in the running directory under the name `DEFAULT_FASTRTPS_PROFILES.xml`.
2. Setting environment variable `FASTRTPS_DEFAULT_PROFILES_FILE` to your XML file.

## Example

The following example configures Fast-RTPS to publish synchronously, and to have a pre-allocated history that can be expanded whenever it gets filled.
The following example configures Fast-RTPS to have a pre-allocated history that can be expanded whenever it gets filled.

1. Create a Fast-RTPS XML file with:

Expand All @@ -51,11 +49,6 @@ The following example configures Fast-RTPS to publish synchronously, and to have
<dds xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
<profiles>
<publisher profile_name="publisher profile" is_default_profile="true">
<qos>
<publishMode>
<kind>SYNCHRONOUS</kind>
</publishMode>
</qos>
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
</publisher>

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1 change: 0 additions & 1 deletion rmw_fastrtps_cpp/src/rmw_client.cpp
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Expand Up @@ -134,7 +134,6 @@ rmw_create_client(
qos_policies, ros_service_response_prefix, service_name, "Reply");

if (!impl->leave_middleware_default_qos) {
publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
publisherParam.historyMemoryPolicy =
eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
}
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1 change: 0 additions & 1 deletion rmw_fastrtps_cpp/src/rmw_publisher.cpp
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Expand Up @@ -149,7 +149,6 @@ rmw_create_publisher(
}

if (!impl->leave_middleware_default_qos) {
publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
publisherParam.historyMemoryPolicy =
eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
}
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1 change: 0 additions & 1 deletion rmw_fastrtps_cpp/src/rmw_service.cpp
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Expand Up @@ -144,7 +144,6 @@ rmw_create_service(
qos_policies, ros_service_requester_prefix, service_name, "Request");

if (!impl->leave_middleware_default_qos) {
publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
publisherParam.historyMemoryPolicy =
eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
}
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1 change: 0 additions & 1 deletion rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
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Expand Up @@ -141,7 +141,6 @@ rmw_create_client(
qos_policies, ros_service_response_prefix, service_name, "Reply");

if (!impl->leave_middleware_default_qos) {
publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
publisherParam.historyMemoryPolicy =
eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
}
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1 change: 0 additions & 1 deletion rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
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Expand Up @@ -145,7 +145,6 @@ rmw_create_publisher(
}

if (!impl->leave_middleware_default_qos) {
publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
publisherParam.historyMemoryPolicy =
eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
}
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1 change: 0 additions & 1 deletion rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
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Expand Up @@ -151,7 +151,6 @@ rmw_create_service(
qos_policies, ros_service_requester_prefix, service_name, "Request");

if (!impl->leave_middleware_default_qos) {
publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
publisherParam.historyMemoryPolicy =
eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
}
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