Pass rclcpp::QoS to create_service (#507)

Signed-off-by: Shane Loretz <[email protected]>

Author: sloretz

test_quality_of_service/test/test_best_available.cpp

@@ -144,7 +144,7 @@ TEST_F(QosRclcppTestFixture, test_best_available_policies_services) {
       std::shared_ptr<rmw_request_id_t>,
       std::shared_ptr<test_msgs::srv::Empty::Request>,
       std::shared_ptr<test_msgs::srv::Empty::Response>) {},
-    rmw_qos_profile_best_available);
+    rclcpp::BestAvailableQoS());
 }
 
 TEST_F(QosRclcppTestFixture, test_best_available_policies_clients) {

test_rclcpp/test/test_client_scope_consistency_server.cpp

@@ -34,9 +34,9 @@ int main(int argc, char ** argv)
   auto node = rclcpp::Node::make_shared("client_scope_consistency_regression_test_server");
 
   // Replicate the settings that caused https://github.com/ros2/system_tests/issues/153
-  rmw_qos_profile_t rmw_qos_profile = rmw_qos_profile_default;
+  rclcpp::QoS qos(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default));
   auto service = node->create_service<test_rclcpp::srv::AddTwoInts>(
-    "client_scope", handle_add_two_ints, rmw_qos_profile);
+    "client_scope", handle_add_two_ints, qos);
 
   rclcpp::WallRate loop_rate(30);
   try {

test_rclcpp/test/test_multithreaded.cpp

@@ -185,7 +185,7 @@ TEST_F(CLASSNAME(test_multithreaded, RMW_IMPLEMENTATION), multi_consumer_clients
   auto callback_group = node->create_callback_group(
     rclcpp::CallbackGroupType::Reentrant);
   auto service = node->create_service<test_rclcpp::srv::AddTwoInts>(
-    "multi_consumer_clients", callback, qos_profile.get_rmw_qos_profile(), callback_group);
+    "multi_consumer_clients", callback, qos_profile, callback_group);
 
   using ClientRequestPair = std::pair<
     rclcpp::Client<test_rclcpp::srv::AddTwoInts>::SharedPtr,