rclpy.qos.qos_profile_sensor_data) C++ odom_subscribe_ = this->create_subscription( "odom", rclcpp::SensorDataQoS(),
参数Profile的详细取值为(Keep last, 1000, Reliable, Volatile)。 (5)参数事件(qos_profiles.h:rmw_qos_profile_parameter_events) 与参数Profile相同。 (6)传感器数据(qos_profiles.h:rmw_qos_profile_sensor_data) 在大多数用例中,需要实时读取传感器的数据而无需读取所有数据。也就是说,开发者希望尽快地获取...
File "/home/cxw/dev_ws/install/learning_topic/lib/python3.10/site-packages/learning_topic/toEvo.py", line 20, in __init__ self.subscribe = self.create_subscription(Odometry,"odom",self.callback,qos_profile) File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line ...
rclpy.qos.qos_profile_sensor_data rclpy.qos.qos_profile_system_default rclpy.qos.qos_profile_services_default 1. 2. 3. 实例 在ROS1中我们对于发布和订阅往往只需要指定消息缓冲池的大小即可。 我们使用ros2中gazebo的libgazebo_ros_ray_sensor插件发布一个消息类型为sensor_msgs/msg/LaserScan的话题scan,如...
在文件 qos_profile_conf.h 第48 行定义.◆ QOS_PROFILE_SENSOR_DATAconst QosProfile apollo::cyber::transport::QosProfileConf::QOS_PROFILE_SENSOR_DATA static 初始值: = CreateQosProfile( QosHistoryPolicy::HISTORY_KEEP_LAST, 5, QOS_MPS_SYSTEM_DEFAULT, QosReliabilityPolicy::RELIABILITY_BEST_EFFORT,...
rmw_qos_profile_.depth = depth; return *this; } Reliability Best effort: 尽力传送数据,但是网络不稳定可能会丢弃一些数据。 Reliable: 确保数据被传送到,可能会重传多次,导致数据延时严重。 Durability Transient local: 为后订阅话题的订阅者保留数据,比如map_server发布map的Qos策略。
46 static const QosProfile QOS_PROFILE_DEFAULT; 47 static const QosProfile QOS_PROFILE_SENSOR_DATA; 48 static const QosProfile QOS_PROFILE_PARAMETERS; 49 static const QosProfile QOS_PROFILE_SERVICES_DEFAULT; 50 static const QosProfile QOS_PROFILE_PARAM_EVENT; 51 static const QosProfile QOS_PROFILE...
<data_writer profile_name="/chatter"> <qos> <durability> <kind>TRANSIENT_LOCAL</kind> </durability> <reliability> <kind>BEST_EFFORT</kind> </reliability> <publishMode> <kind>SYNCHRONOUS</kind> </publishMode> </qos> </data_writer> ...
To meet the requirements of wireless sensor networks(WSNs),a QoS guarrantee mechanism based on ser-vice-oriented middleware was presented.Focusing on the problem of QoS evaluation,a QoS evaluation algorithm based on multi-dimension cloud was proposed.It evaluated quantitatively the tasks,which could ...
The adoption of wireless sensor networks by applications that require complex operations, ranging from health care to industrial monitoring, has brought forward a new challenge of fulfilling the quality of service (QoS) requirements of these applications. However, providing QoS support is a challenging...