Use correct quality of service

Author: julianschuler

crates/zenoh_bridge/src/main.rs

@@ -16,7 +16,6 @@ use zenoh::Session;
 use crate::{
     bridge::{forward_ros_to_zenoh, forward_zenoh_to_ros},
     error::Error,
-    ros::RosNode,
 };
 
 #[tokio::main(flavor = "multi_thread")]
@@ -200,8 +199,10 @@ fn spawn_ros_to_zenoh_forwarder<T: 'static + Serialize + DeserializeOwned + Send
     ros_type_name: MessageTypeName,
     zenoh_topic_name: &'static str,
 ) -> Result<Fuse<JoinHandle<Result<()>>>> {
-    let ros_subscription: Subscription<T> =
-        ros_node.subscribe(ros_namespace, ros_topic_name, ros_type_name)?;
+    let ros_topic = ros::create_topic(ros_node, ros_namespace, ros_topic_name, ros_type_name)?;
+    let ros_subscription: Subscription<T> = ros_node
+        .create_subscription(&ros_topic, None)
+        .wrap_err("failed to create subscription")?;
 
     Ok(tokio::spawn(forward_ros_to_zenoh(
         ros_subscription,
@@ -219,8 +220,10 @@ fn spawn_zenoh_to_ros_forwarder<T: 'static + Serialize + DeserializeOwned + Send
     ros_type_name: MessageTypeName,
     zenoh_topic_name: &'static str,
 ) -> Result<Fuse<JoinHandle<Result<()>>>> {
-    let ros_publisher: Publisher<T> =
-        ros_node.publisher(ros_namespace, ros_topic_name, ros_type_name)?;
+    let ros_topic = ros::create_topic(ros_node, ros_namespace, ros_topic_name, ros_type_name)?;
+    let ros_publisher: Publisher<T> = ros_node
+        .create_publisher(&ros_topic, None)
+        .wrap_err("failed to create publisher")?;
 
     Ok(tokio::spawn(forward_zenoh_to_ros(
         zenoh_session,

crates/zenoh_bridge/src/ros.rs

@@ -1,58 +1,28 @@
 use color_eyre::eyre::Context;
 use color_eyre::Result;
-use ros2_client::{MessageTypeName, Name, Node, Publisher, Subscription};
-use serde::Serialize;
+use ros2_client::{
+    ros2::{
+        policy::{Durability, History},
+        Duration, QosPolicyBuilder,
+    },
+    rustdds::Topic,
+    MessageTypeName, Name, Node,
+};
 
-pub trait RosNode {
-    fn subscribe<T: 'static>(
-        &mut self,
-        namespace: &'static str,
-        topic_name: &'static str,
-        type_name: MessageTypeName,
-    ) -> Result<Subscription<T>>;
-
-    fn publisher<T: Serialize>(
-        &mut self,
-        namespace: &'static str,
-        topic_name: &'static str,
-        type_name: MessageTypeName,
-    ) -> Result<Publisher<T>>;
-}
-
-impl RosNode for Node {
-    fn subscribe<T: 'static>(
-        &mut self,
-        namespace: &'static str,
-        topic_name: &'static str,
-        type_name: MessageTypeName,
-    ) -> Result<Subscription<T>> {
-        let topic = self
-            .create_topic(
-                &Name::new(namespace, topic_name).wrap_err("failed to create ROS topic name")?,
-                type_name,
-                &ros2_client::DEFAULT_SUBSCRIPTION_QOS,
-            )
-            .wrap_err("failed to create ROS topic")?;
-
-        self.create_subscription(&topic, None)
-            .wrap_err("failed to create subscription")
-    }
-
-    fn publisher<T: Serialize>(
-        &mut self,
-        namespace: &'static str,
-        topic_name: &'static str,
-        type_name: MessageTypeName,
-    ) -> Result<Publisher<T>> {
-        let topic = self
-            .create_topic(
-                &Name::new(namespace, topic_name).wrap_err("failed to create ROS topic name")?,
-                type_name,
-                &ros2_client::DEFAULT_SUBSCRIPTION_QOS,
-            )
-            .wrap_err("failed to create ROS topic")?;
-
-        self.create_publisher(&topic, None)
-            .wrap_err("failed to create publisher")
-    }
+pub fn create_topic(
+    node: &mut Node,
+    namespace: &'static str,
+    topic_name: &'static str,
+    type_name: MessageTypeName,
+) -> Result<Topic> {
+    node.create_topic(
+        &Name::new(namespace, topic_name).wrap_err("failed to create ROS topic name")?,
+        type_name,
+        &QosPolicyBuilder::new()
+            .reliable(Duration::INFINITE)
+            .history(History::KeepLast { depth: 1 })
+            .durability(Durability::TransientLocal)
+            .build(),
+    )
+    .wrap_err("failed to create ROS topic")
 }