how to read from a topic whose publisher has `best_effort` qos reliability ?

[midnightexigent]

Hello, this library looks very nice. I would like to use it for a project.

One of the topics I am trying to read from has a publisher whose qos reliability is set to best_effort. Is there currently a way to read those messages regardless ?

Thanks!

[m-dahl]

Hi,

It's currently not possible unfortunately. Since no QoS options have been implemented yet, the subscribers default to RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT which I assume is Reliable.

The plan is to add QoS settings at some point but I don't want to commit to a time line, currently I don't have much time to work on the library.

However I think implementing QoS settings is a relatively simple task and would be a good first issue if you want to contribute. See https://github.com/sequenceplanner/r2r/blob/master/r2r_rcl/src/lib.rs#L18 and https://github.com/sequenceplanner/r2r/blob/master/src/subscribers.rs#L170 for starting points.