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history_depth is actually just depth #341

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Aug 15, 2024
Merged

history_depth is actually just depth #341

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14 changes: 7 additions & 7 deletions articles/qos_configurability.md
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Original file line number Diff line number Diff line change
Expand Up @@ -107,7 +107,7 @@ That will automatically declare the parameters for reconfiguring the QoS policie
'my/fully/qualified/topic/name/here':
publisher:
reliability: reliable
history_depth: 100
depth: 100
history: keep_last
```

Expand Down Expand Up @@ -186,7 +186,7 @@ Note 2: We could also have a `declare_parameters_atomically` method and use:
node->declare_parameters_atomically(...); // names and defaults for all parameters given here
// callback_handle goes out of scope, the callback is auto-removed.
```
`declare_parameters_atomically` would be needed, if not you cannot have conditions like `history == keep_all or history_depth > 10`.
`declare_parameters_atomically` would be needed, if not you cannot have conditions like `history == keep_all or depth > 10`.

### Parameters URIs

Expand Down Expand Up @@ -254,12 +254,12 @@ node->create_publisher(
'my/fully/qualified/topic/name/here':
publisher_id1: # {entity_type}_{id}
reliability: reliable
history_depth: 100
depth: 100
history: keep_last
'my/fully/qualified/topic/name/here':
publisher_id2: # {entity_type}_{id}
reliability: best_effort
history_depth: 100
depth: 100
history: keep_last
```

Expand Down Expand Up @@ -331,7 +331,7 @@ node->create_publisher(
{ // implicit, to lower verbosity
{QosPolicyKind::Reliability, QosPolicyKind::History, QosPolicyKind::HistoryDepth}, // only declare parameters for history depth, history kind, reliability
[](const QoSProfile qos) -> bool {
return qos.is_keep_all() || qos.history_depth() > 10u; // constrains involving more than one QoS in callbacks
return qos.is_keep_all() || qos.depth() > 10u; // constrains involving more than one QoS in callbacks
},
"my_id" // id to disambiguate entities in same topic
});
Expand Down Expand Up @@ -380,15 +380,15 @@ We could, for example, leverage yaml anchors to allow this:
'my/fully/qualified/topic/name/here':
publisher: &profileA
reliability: reliable
history_depth: 1
depth: 1
history: keep_last
/my/ns/node_name:
ros__parameters:
qos_overrides:
'my/fully/qualified/topic/name/here':
subscription:
<<: *profileA,
history_depth: 100 # override the history depth
depth: 100 # override the history depth
```

## Reconfigurability of topics the ROS 2 core creates
Expand Down