feat: add qos_reliablity param

README.md

@@ -84,6 +84,7 @@ Parameters are provided to configure the behavior of the bridge. These parameter
  * (ROS 2) __num_threads__: The number of threads to use for the ROS node executor. This controls the number of subscriptions that can be processed in parallel. 0 means one thread per CPU core. Defaults to `0`.
  * (ROS 2) __min_qos_depth__: Minimum depth used for the QoS profile of subscriptions. Defaults to `1`. This is to set a lower limit for a subscriber's QoS depth which is computed by summing up depths of all publishers. See also [#208](https://github.com/foxglove/ros-foxglove-bridge/issues/208).
  * (ROS 2) __max_qos_depth__: Maximum depth used for the QoS profile of subscriptions. Defaults to `25`.
+ * (ROS 2) __qos_reliability__: The default QoS reliability setting for subscriptions the bridge creates. Can be 'reliable', 'best_effort', or 'automatic'. Defaults to `automatic`.
  * (ROS 2) __include_hidden__: Include hidden topics and services. Defaults to `false`.
  * (ROS 2) __disable_load_message__: Do not publish as loaned message when publishing a client message. Defaults to `true`.
 

ros2_foxglove_bridge/include/foxglove_bridge/param_utils.hpp

@@ -16,6 +16,7 @@ constexpr char PARAM_CERTFILE[] = "certfile";
 constexpr char PARAM_KEYFILE[] = "keyfile";
 constexpr char PARAM_MIN_QOS_DEPTH[] = "min_qos_depth";
 constexpr char PARAM_MAX_QOS_DEPTH[] = "max_qos_depth";
+constexpr char PARAM_QOS_RELIABILITY[] = "qos_reliability";
 constexpr char PARAM_TOPIC_WHITELIST[] = "topic_whitelist";
 constexpr char PARAM_SERVICE_WHITELIST[] = "service_whitelist";
 constexpr char PARAM_PARAMETER_WHITELIST[] = "param_whitelist";
@@ -31,6 +32,7 @@ constexpr char DEFAULT_ADDRESS[] = "0.0.0.0";
 constexpr int64_t DEFAULT_SEND_BUFFER_LIMIT = 10000000;
 constexpr int64_t DEFAULT_MIN_QOS_DEPTH = 1;
 constexpr int64_t DEFAULT_MAX_QOS_DEPTH = 25;
+constexpr char DEFAULT_QOS_RELIABILITY[] = "automatic";
 
 void declareParameters(rclcpp::Node* node);
 

ros2_foxglove_bridge/include/foxglove_bridge/ros2_foxglove_bridge.hpp

@@ -77,6 +77,7 @@ class FoxgloveBridge : public rclcpp::Node {
   std::unique_ptr<std::thread> _rosgraphPollThread;
   size_t _minQosDepth = DEFAULT_MIN_QOS_DEPTH;
   size_t _maxQosDepth = DEFAULT_MAX_QOS_DEPTH;
+  std::string _qosReliability = DEFAULT_QOS_RELIABILITY;
   std::shared_ptr<rclcpp::Subscription<rosgraph_msgs::msg::Clock>> _clockSubscription;
   bool _useSimTime = false;
   std::vector<std::string> _capabilities;

ros2_foxglove_bridge/src/param_utils.cpp

@@ -84,6 +84,15 @@ void declareParameters(rclcpp::Node* node) {
   maxQosDepthDescription.integer_range[0].step = 1;
   node->declare_parameter(PARAM_MAX_QOS_DEPTH, DEFAULT_MAX_QOS_DEPTH, maxQosDepthDescription);
 
+  auto qosReliabilityDescription = rcl_interfaces::msg::ParameterDescriptor{};
+  qosReliabilityDescription.name = PARAM_QOS_RELIABILITY;
+  qosReliabilityDescription.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+  qosReliabilityDescription.description =
+    "The default QoS reliability setting for subscriptions the bridge "
+    "creates. Can be 'reliable', 'best_effort', or 'automatic'.";
+  qosReliabilityDescription.read_only = true;
+  node->declare_parameter(PARAM_QOS_RELIABILITY, DEFAULT_QOS_RELIABILITY,
+                          qosReliabilityDescription);
   auto topicWhiteListDescription = rcl_interfaces::msg::ParameterDescriptor{};
   topicWhiteListDescription.name = PARAM_TOPIC_WHITELIST;
   topicWhiteListDescription.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING_ARRAY;

ros2_foxglove_bridge/src/ros2_foxglove_bridge.cpp

@@ -36,6 +36,7 @@ FoxgloveBridge::FoxgloveBridge(const rclcpp::NodeOptions& options)
   const auto keyfile = this->get_parameter(PARAM_KEYFILE).as_string();
   _minQosDepth = static_cast<size_t>(this->get_parameter(PARAM_MIN_QOS_DEPTH).as_int());
   _maxQosDepth = static_cast<size_t>(this->get_parameter(PARAM_MAX_QOS_DEPTH).as_int());
+  _qosReliability = this->get_parameter(PARAM_QOS_RELIABILITY).as_string();
   const auto topicWhiteList = this->get_parameter(PARAM_TOPIC_WHITELIST).as_string_array();
   _topicWhitelistPatterns = parseRegexStrings(this, topicWhiteList);
   const auto serviceWhiteList = this->get_parameter(PARAM_SERVICE_WHITELIST).as_string_array();
@@ -495,18 +496,25 @@ void FoxgloveBridge::subscribe(foxglove::ChannelId channelId, ConnectionHandle c
 
   rclcpp::QoS qos{rclcpp::KeepLast(depth)};
 
-  // If all endpoints are reliable, ask for reliable
-  if (!publisherInfo.empty() && reliabilityReliableEndpointsCount == publisherInfo.size()) {
+  // Handle the QoS reliability setting
+  if (_qosReliability == "reliable") {
     qos.reliable();
+  } else if (_qosReliability == "best_effort") {
+    qos.best_effort();
   } else {
-    if (reliabilityReliableEndpointsCount > 0) {
-      RCLCPP_WARN(
-        this->get_logger(),
-        "Some, but not all, publishers on topic '%s' are offering QoSReliabilityPolicy.RELIABLE. "
-        "Falling back to QoSReliabilityPolicy.BEST_EFFORT as it will connect to all publishers",
-        topic.c_str());
+    // If all endpoints are reliable, ask for reliable
+    if (!publisherInfo.empty() && reliabilityReliableEndpointsCount == publisherInfo.size()) {
+      qos.reliable();
+    } else {
+      if (reliabilityReliableEndpointsCount > 0) {
+        RCLCPP_WARN(
+          this->get_logger(),
+          "Some, but not all, publishers on topic '%s' are offering QoSReliabilityPolicy.RELIABLE. "
+          "Falling back to QoSReliabilityPolicy.BEST_EFFORT as it will connect to all publishers",
+          topic.c_str());
+      }
+      qos.best_effort();
     }
-    qos.best_effort();
   }
 
   // If all endpoints are transient_local, ask for transient_local