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Public API Changes
register_advertisement now has a QoSProfile variable named 'qos'
subscribe now has a QoSProfile variable named 'qos'
If the qos variable is not supplied at any point in the pipeline, it defaults to the currently preexisting QOS settings.
Description
Message topics now have support for QOS profiles. This was not a thing in ROS1, but with ROS 2 it is necessary to have compliant QOS profiles between all publishers and subscribers on a node.
#887