rclpy.qos_overriding_options module

exception rclpy.qos_overriding_options.InvalidQosOverridesError

Bases: Exception

class rclpy.qos_overriding_options.QoSOverridingOptions(policy_kinds: Iterable[rclpy.qos.QoSPolicyKind], *, callback: Callable[[rclpy.qos.QoSProfile], rcl_interfaces.msg.SetParametersResult] | None = None, entity_id: str | None = None)

Bases: object

Options to customize QoS parameter overrides.

Construct a QoSOverridingOptions object.

Parameters:

  • policy_kinds – QoS kinds that will have a declared parameter.

  • callback – Callback that will be used to validate the QoS profile after the paramter overrides get applied.

  • entity_id – Optional identifier, to disambiguate in the case that different QoS policies for the same topic are desired.

property callback: Callable[[rclpy.qos.QoSProfile], rcl_interfaces.msg.SetParametersResult] | None

Get the validation callback.

property entity_id: str | None

Get the optional entity ID.

property policy_kinds: Iterable[rclpy.qos.QoSPolicyKind]

Get QoS policy kinds that will have a parameter override.

classmethod with_default_policies(*, callback: Callable[[rclpy.qos.QoSProfile], rcl_interfaces.msg.SetParametersResult] | None = None, entity_id: str | None = None) → QoSOverridingOptions