Add parameter to change QoS on ros2 service call similar to `ros2 t…

…opic pub` Signed-off-by: Bastian <[email protected]> [squash before merge] React on comments
ros2 · May 23, 2023 · 3fe424c · 3fe424c
1 parent 86ae393
commit 3fe424c
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Showing 4 changed files with 50 additions and 32 deletions.
diff --git a/ros2service/package.xml b/ros2service/package.xml
@@ -18,6 +18,7 @@
 
   <depend>rclpy</depend>
   <depend>ros2cli</depend>
+  <depend>ros2topic</depend>
 
   <exec_depend>python3-yaml</exec_depend>
   <exec_depend>rosidl_runtime_py</exec_depend>

diff --git a/ros2service/ros2service/verb/call.py b/ros2service/ros2service/verb/call.py
@@ -16,10 +16,12 @@
 import time
 
 import rclpy
+from rclpy.qos import QoSPresetProfiles
 from ros2cli.node import NODE_NAME_PREFIX
 from ros2service.api import ServiceNameCompleter
 from ros2service.api import ServicePrototypeCompleter
 from ros2service.api import ServiceTypeCompleter
+from ros2topic.api import profile_configure_short_keys, add_qos_arguments
 from ros2service.verb import VerbExtension
 from rosidl_runtime_py import set_message_fields
 import yaml
@@ -49,17 +51,23 @@ def add_arguments(self, parser, cli_name):
         parser.add_argument(
             '-r', '--rate', metavar='N', type=float,
             help='Repeat the call at a specific rate in Hz')
+        add_qos_arguments(parser, 'services_default')
 
     def main(self, *, args):
         if args.rate is not None and args.rate <= 0:
             raise RuntimeError('rate must be greater than zero')
         period = 1. / args.rate if args.rate else None
 
+        default_profile = QoSPresetProfiles.get_from_short_key(args.qos_profile)
+        profile_configure_short_keys(
+            default_profile, args.qos_reliability, args.qos_durability,
+            args.qos_depth, args.qos_history)
+
         return requester(
-            args.service_type, args.service_name, args.values, period)
+            args.service_type, args.service_name, args.values, period, default_profile)
 
 
-def requester(service_type, service_name, values, period):
+def requester(service_type, service_name, values, period, qos_profile):
     # TODO(wjwwood) this logic should come from a rosidl related package
     try:
         parts = service_type.split('/')
@@ -83,7 +91,11 @@ def requester(service_type, service_name, values, period):
 
     node = rclpy.create_node(NODE_NAME_PREFIX + '_requester_%s_%s' % (package_name, srv_name))
 
-    cli = node.create_client(srv_module, service_name)
+    cli = node.create_client(
+        srv_type=srv_module,
+        srv_name=service_name,
+        qos_profile=qos_profile
+    )
 
     request = srv_module.Request()
 

diff --git a/ros2topic/ros2topic/api/__init__.py b/ros2topic/ros2topic/api/__init__.py
@@ -185,3 +185,35 @@ def qos_profile_from_short_keys(
     profile = rclpy.qos.QoSPresetProfiles.get_from_short_key(preset_profile)
     profile_configure_short_keys(profile, reliability, durability, depth, history)
     return profile
+
+
+def add_qos_arguments(parser, default_profile_str):
+    parser.add_argument(
+        '--qos-profile',
+        choices=rclpy.qos.QoSPresetProfiles.short_keys(),
+        default=default_profile_str,
+        help='Quality of service preset profile to subscribe with (default: {})'
+             .format(default_profile_str))
+    default_profile = rclpy.qos.QoSPresetProfiles.get_from_short_key(default_profile_str)
+    parser.add_argument(
+        '--qos-depth', metavar='N', type=int,
+        help='Queue size setting to subscribe with '
+             '(overrides depth value of --qos-profile option)')
+    parser.add_argument(
+        '--qos-history',
+        choices=rclpy.qos.QoSHistoryPolicy.short_keys(),
+        help='History of samples setting to subscribe with '
+             '(overrides history value of --qos-profile option, default: {})'
+             .format(default_profile.history.short_key))
+    parser.add_argument(
+        '--qos-reliability',
+        choices=rclpy.qos.QoSReliabilityPolicy.short_keys(),
+        help='Quality of service reliability setting to subscribe with '
+             '(overrides reliability value of --qos-profile option, default: '
+             'Automatically match existing publishers )')
+    parser.add_argument(
+        '--qos-durability',
+        choices=rclpy.qos.QoSDurabilityPolicy.short_keys(),
+        help='Quality of service durability setting to subscribe with '
+             '(overrides durability value of --qos-profile option, default: '
+             'Automatically match existing publishers )')
diff --git a/ros2topic/ros2topic/verb/echo.py b/ros2topic/ros2topic/verb/echo.py
@@ -28,7 +28,7 @@
 from ros2cli.node.strategy import add_arguments as add_strategy_node_arguments
 from ros2cli.node.strategy import NodeStrategy
 from ros2topic.api import get_msg_class
-from ros2topic.api import qos_profile_from_short_keys
+from ros2topic.api import qos_profile_from_short_keys, add_qos_arguments
 from ros2topic.api import TopicNameCompleter
 from ros2topic.api import unsigned_int
 from ros2topic.verb import VerbExtension
@@ -55,34 +55,7 @@ def add_arguments(self, parser, cli_name):
         parser.add_argument(
             'message_type', nargs='?',
             help="Type of the ROS message (e.g. 'std_msgs/msg/String')")
-        parser.add_argument(
-            '--qos-profile',
-            choices=rclpy.qos.QoSPresetProfiles.short_keys(),
-            help='Quality of service preset profile to subscribe with (default: {})'
-                 .format(default_profile_str))
-        default_profile = rclpy.qos.QoSPresetProfiles.get_from_short_key(default_profile_str)
-        parser.add_argument(
-            '--qos-depth', metavar='N', type=int,
-            help='Queue size setting to subscribe with '
-                 '(overrides depth value of --qos-profile option)')
-        parser.add_argument(
-            '--qos-history',
-            choices=rclpy.qos.QoSHistoryPolicy.short_keys(),
-            help='History of samples setting to subscribe with '
-                 '(overrides history value of --qos-profile option, default: {})'
-                 .format(default_profile.history.short_key))
-        parser.add_argument(
-            '--qos-reliability',
-            choices=rclpy.qos.QoSReliabilityPolicy.short_keys(),
-            help='Quality of service reliability setting to subscribe with '
-                 '(overrides reliability value of --qos-profile option, default: '
-                 'Automatically match existing publishers )')
-        parser.add_argument(
-            '--qos-durability',
-            choices=rclpy.qos.QoSDurabilityPolicy.short_keys(),
-            help='Quality of service durability setting to subscribe with '
-                 '(overrides durability value of --qos-profile option, default: '
-                 'Automatically match existing publishers )')
+        add_qos_arguments(parser, default_profile_str)
         parser.add_argument(
             '--csv', action='store_true',
             help='Output all recursive fields separated by commas (e.g. for '