Class BestAvailableQoS

Inheritance Relationships

Base Type

Class Documentation

class BestAvailableQoS : public rclcpp::QoS

Best available QoS class

Match majority of endpoints currently available while maintaining the highest level of service. Policies are chosen at the time of creating a subscription or publisher. The middleware is not expected to update policies after creating a subscription or publisher, even if one or more policies are incompatible with newly discovered endpoints. Therefore, this profile should be used with care since non-deterministic behavior can occur due to races with discovery.

  • History: Keep last,

  • Depth: 10,

  • Reliability: Best available,

  • Durability: Best available,

  • Deadline: Best available,

  • Lifespan: Default,

  • Liveliness: Best available,

  • Liveliness lease duration: Best available,

  • avoid ros namespace conventions: false

Public Functions

explicit BestAvailableQoS(const QoSInitialization &qos_initialization = (QoSInitialization::from_rmw(rmw_qos_profile_best_available)))