Ros2QoSProfile

Fully qualified name: isaacsim::ros2::bridge::Ros2QoSProfile

struct Ros2QoSProfile

ROS 2 QoS Profile configuration.

Comprehensive structure for configuring all aspects of ROS 2 Quality of Service. Provides settings for history, reliability, durability, deadlines, lifespan, and liveliness policies.

Public Functions

inline Ros2QoSProfile()

Default constructor initializing system default values.

Initializes the QoS profile with ROS 2 default values from rmw_qos_profile_default:

• History: Keep last 10 messages

• Reliability: Reliable delivery

• Durability: Volatile

• Other timing parameters: 0

Public Members

Ros2QoSHistoryPolicy history

History policy setting.

size_t depth

Size of the message queue.

Ros2QoSReliabilityPolicy reliability

Reliability policy setting.

Ros2QoSDurabilityPolicy durability

Durability policy setting.

Ros2QoSTime deadline

Period for expected message send/receive.

Ros2QoSTime lifespan

Maximum age for valid messages.

Ros2QoSLivelinessPolicy liveliness

Liveliness policy setting.

Ros2QoSTime livelinessLeaseDuration

Time window for liveliness assertion.

bool avoidRosNamespaceConventions

Flag to bypass ROS 2 namespace conventions.