Add option to specify the QoS profile in WaitForTopics

launch_testing_ros/launch_testing_ros/wait_for_topics.py

@@ -53,7 +53,7 @@ def method_2():
             print(wait_for_topics.messages_received('topic_1')) # Should be [message_1, ...]
             wait_for_topics.shutdown()
 
-        # Method3, calling a trigger function before the wait. The trigger function takes
+        # Method 3, calling a trigger function before the wait. The trigger function takes
         # the WaitForTopics node object as the first argument. Any additional arguments have
         # to be passed to the wait(*args, **kwargs) method directly.
         def trigger_function(node, arg=""):
@@ -70,12 +70,13 @@ def method_3():
     """
 
     def __init__(self, topic_tuples, timeout=5.0, messages_received_buffer_length=10,
-                 trigger=None, node_namespace=None) -> None:
+                 trigger=None, node_namespace=None, qos_profile=10) -> None:
         self.topic_tuples = topic_tuples
         self.timeout = timeout
         self.messages_received_buffer_length = messages_received_buffer_length
         self.trigger = trigger
         self.node_namespace = node_namespace
+        self.qos_profile = qos_profile
         if self.trigger is not None and not callable(self.trigger):
             raise TypeError('The passed trigger is not callable')
         self.__ros_context = rclpy.Context()
@@ -102,7 +103,8 @@ def _prepare_ros_node(self):
             name=node_name,
             node_context=self.__ros_context,
             messages_received_buffer_length=self.messages_received_buffer_length,
-            node_namespace=self.node_namespace
+            node_namespace=self.node_namespace,
+            qos_profile=self.qos_profile
         )
         self.__ros_executor.add_node(self.__ros_node)
 
@@ -150,7 +152,8 @@ def __init__(
         self, name='test_node',
         node_context=None,
         messages_received_buffer_length=None,
-        node_namespace=None
+        node_namespace=None,
+        qos_profile=10
     ) -> None:
         super().__init__(node_name=name, context=node_context, namespace=node_namespace)
         self.msg_event_object = Event()
@@ -161,6 +164,7 @@ def __init__(
         self.received_topics = set()
         self.received_messages_buffer = {}
         self.any_publisher_connected = Event()
+        self.qos_profile = qos_profile
 
     def _sub_matched_event_callback(self, info: QoSSubscriptionMatchedInfo):
         if info.current_count != 0:
@@ -193,7 +197,7 @@ def start_subscribers(self, topic_tuples):
                         topic_type,
                         topic_name,
                         self.callback_template(topic_name),
-                        10,
+                        self.qos_profile,
                         event_callbacks=sub_event_callback,
                     )
                 )

launch_testing_ros/test/examples/wait_for_topic_inject_trigger_test.py

@@ -23,6 +23,7 @@
 import launch_testing.markers
 from launch_testing_ros import WaitForTopics
 import pytest
+from rclpy import qos
 from std_msgs.msg import String
 
 
@@ -39,7 +40,10 @@ def generate_node():
 
 def trigger_function(node):
     if not hasattr(node, 'my_publisher'):
-        node.my_publisher = node.create_publisher(String, 'input', 10)
+        node.my_publisher = node.create_publisher(
+            String, 'input',
+            qos.QoSProfile(depth=10)
+        )
     while node.my_publisher.get_subscription_count() == 0:
         time.sleep(0.1)
     msg = String()