48 lines
1.4 KiB
Text
48 lines
1.4 KiB
Text
# Message-based representation of ROS 2 Quality of Service settings
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# Default values are kept in sync with RMW by integration test
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# Note that SYSTEM_DEFAULT and BEST_AVAILABLE values cannot be an observed value,
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# because they resolve concretely at runtime.
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# They are included here for completeness to match the data structures in RMW
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# Depth of the message queue (only meaningful when history==KEEP_LAST)
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uint32 depth
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# Deadline between messages (0 for no deadline)
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builtin_interfaces/Duration deadline
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# Lifespan of each message (0 for infinite)
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builtin_interfaces/Duration lifespan
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# History policy
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uint8 HISTORY_SYSTEM_DEFAULT=0
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uint8 HISTORY_KEEP_LAST=1
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uint8 HISTORY_KEEP_ALL=2
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uint8 HISTORY_UNKNOWN=3
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uint8 history
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# Reliability policy
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uint8 RELIABILITY_SYSTEM_DEFAULT=0
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uint8 RELIABILITY_RELIABLE=1
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uint8 RELIABILITY_BEST_EFFORT=2
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uint8 RELIABILITY_UNKNOWN=3
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uint8 RELIABILITY_BEST_AVAILABLE=4
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uint8 reliability
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# Durability policy
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uint8 DURABILITY_SYSTEM_DEFAULT=0
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uint8 DURABILITY_TRANSIENT_LOCAL=1
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uint8 DURABILITY_VOLATILE=2
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uint8 DURABILITY_UNKNOWN=3
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uint8 DURABILITY_BEST_AVAILABLE=4
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uint8 durability
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# Liveliness policy
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uint8 LIVELINESS_SYSTEM_DEFAULT=0
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uint8 LIVELINESS_AUTOMATIC=1
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uint8 LIVELINESS_MANUAL_BY_TOPIC=3
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uint8 LIVELINESS_UNKNOWN=4
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uint8 LIVELINESS_BEST_AVAILABLE=5
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uint8 liveliness
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# Lease duration for liveliness (0 for infinite)
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builtin_interfaces/Duration liveliness_lease_duration
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