Function rcl_publisher_get_actual_qos

Function Documentation

const rmw_qos_profile_t *rcl_publisher_get_actual_qos(const rcl_publisher_t *publisher)

Get the actual qos settings of the publisher.

Used to get the actual qos settings of the publisher. The actual configuration applied when using RMW_*_SYSTEM_DEFAULT can only be resolved after the creation of the publisher, and it depends on the underlying rmw implementation. If the underlying setting in use can’t be represented in ROS terms, it will be set to RMW_*_UNKNOWN. The returned struct is only valid as long as the rcl_publisher_t is valid.

Attribute

Adherence

Allocates Memory

No

Thread-Safe

Yes

Uses Atomics

No

Lock-Free

Yes

Parameters:

publisher – [in] pointer to the rcl publisher

Returns:

qos struct if successful, otherwise NULL