Replace rmw_qos_profile_t with rclcpp::QoS (#1525)

Signed-off-by: Alejandro Hernandez Cordero <[email protected]>

Author: ahcorde

rviz_default_plugins/include/rviz_default_plugins/displays/depth_cloud/depth_cloud_display.hpp

@@ -165,7 +165,7 @@ protected Q_SLOTS:
 
   // RVIZ properties
   rviz_common::properties::EditableEnumProperty * reliability_policy_property_;
-  rmw_qos_profile_t qos_profile_;
+  rclcpp::QoS qos_profile_;
   rviz_common::properties::Property * topic_filter_property_;
   rviz_common::properties::IntProperty * queue_size_property_;
   rviz_common::properties::BoolProperty * use_auto_size_property_;

rviz_default_plugins/include/rviz_default_plugins/displays/image/image_transport_display.hpp

@@ -118,7 +118,7 @@ class ImageTransportDisplay : public rviz_common::_RosTopicDisplay
         node.get(),
         getBaseTopicFromTopic(topic_property_->getTopicStd()),
         getTransportFromTopic(topic_property_->getTopicStd()),
-        qos_profile.get_rmw_qos_profile());
+        qos_profile);
       subscription_start_time_ = node->now();
       subscription_callback_ = subscription_->registerCallback(
         std::bind(

rviz_default_plugins/src/rviz_default_plugins/displays/depth_cloud/depth_cloud_display.cpp

@@ -76,6 +76,7 @@ DepthCloudDisplay::DepthCloudDisplay()
   , depthmap_tf_filter_(nullptr)
   , rgb_sub_()
   , cam_info_sub_()
+  , qos_profile_(rclcpp::SensorDataQoS())
   , queue_size_(5)
   , angular_thres_(0.5f)
   , trans_thres_(0.01f)
@@ -95,8 +96,6 @@ DepthCloudDisplay::DepthCloudDisplay()
   reliability_policy_property_->addOption("Reliable");
   reliability_policy_property_->addOption("Best effort");
 
-  qos_profile_ = rmw_qos_profile_sensor_data;
-
   topic_filter_property_ =
     new rviz_common::properties::Property(
     "Topic Filter", true,
@@ -178,18 +177,18 @@ DepthCloudDisplay::DepthCloudDisplay()
 void DepthCloudDisplay::updateQosProfile()
 {
   updateQueueSize();
-  qos_profile_ = rmw_qos_profile_default;
-  qos_profile_.depth = queue_size_;
+  qos_profile_ = rclcpp::SystemDefaultsQoS();
+  qos_profile_.keep_last(queue_size_);
 
   auto policy = reliability_policy_property_->getString().toStdString();
 
   if (policy == "Best effort") {
-    qos_profile_.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+    qos_profile_.best_effort();
 
   } else if (policy == "Reliable") {
-    qos_profile_.reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+    qos_profile_.reliable();
   } else {
-    qos_profile_.reliability = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT;
+    qos_profile_.reliability_best_available();
   }
 
   updateTopic();
@@ -258,7 +257,7 @@ void DepthCloudDisplay::updateQueueSize()
     depthmap_tf_filter_->setQueueSize(static_cast<uint32_t>(queue_size_property_->getInt()));
   }
   queue_size_ = queue_size_property_->getInt();
-  qos_profile_.depth = queue_size_;
+  qos_profile_.keep_last(queue_size_);
 }
 
 void DepthCloudDisplay::updateUseAutoSize()