From 33f86bebcc4f01db4b39e8ab3d7996655175b5c1 Mon Sep 17 00:00:00 2001 From: maria merlan <83768223+mamerlan@users.noreply.github.com> Date: Sat, 18 Sep 2021 17:41:41 +0200 Subject: [PATCH 1/3] Create 2021-08-10-TimeoutRMW&QoS.md --- _posts/2021-08-10-TimeoutRMW&QoS.md | 22 ++++++++++++++++++++++ 1 file changed, 22 insertions(+) create mode 100644 _posts/2021-08-10-TimeoutRMW&QoS.md diff --git a/_posts/2021-08-10-TimeoutRMW&QoS.md b/_posts/2021-08-10-TimeoutRMW&QoS.md new file mode 100644 index 00000000..fc5acb35 --- /dev/null +++ b/_posts/2021-08-10-TimeoutRMW&QoS.md @@ -0,0 +1,22 @@ +--- +title: Timeout RMW & QoS in RCLC APIs +author: Maria Merlan +--- +There are NEW APIs available to improve the usability and scope of micro-ROS: + +- The new [RCLC QoS API](https://github.com/ros2/rclc/pull/119/) allows users to set custom QoS to better adjust the use cases. +So far, users could only use default or best effort entities. Now, this API allows the user to set a whole rmw_qos_profile_t. All internal QoS available in RMW as well as the entities can be customized to adjust every use case. +The RCLC QoS API applies to all entities. + +- The new [RMW timeout API](https://github.com/micro-ROS/rmw-microxrcedds/pull/153) helps the user to configure the publication time block time when using a reliable mode in micro-ROS. +When a topic is published in reliable mode in the RMW of Micro XRCE-DDS, the XRCE-DDS session will be run during a default time-out before sending an error, in order to confirm that the messages arrive to the Agent. This default timeout used to be managed by a buit-time configurable parameter. +The new RMW API allows the user to set a specific value for the timeout parameter at run-time for each reliable publisher, meaning before publishing. + +This brings advantages: + - Users can control the blocking time of a reliable publication. + - Users can reinforce time constraints to adjust the behaviour to their use case, allowing to fine-tune the timing of the micro-ROS publisher operation. + +These enhancements are in line with the strategy of improving usability and scope of micro-ROS. We thank the community and early adopters for their great insights that contribute to enhancing micro-ROS usability and to better focus real use cases. + + + From 386395a7e81bbe39c0a2e51bde8d23d6c9b8c929 Mon Sep 17 00:00:00 2001 From: maria merlan <83768223+mamerlan@users.noreply.github.com> Date: Mon, 20 Sep 2021 08:50:39 +0200 Subject: [PATCH 2/3] Update _posts/2021-08-10-TimeoutRMW&QoS.md Co-authored-by: Ralph Lange --- _posts/2021-08-10-TimeoutRMW&QoS.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_posts/2021-08-10-TimeoutRMW&QoS.md b/_posts/2021-08-10-TimeoutRMW&QoS.md index fc5acb35..2e192c51 100644 --- a/_posts/2021-08-10-TimeoutRMW&QoS.md +++ b/_posts/2021-08-10-TimeoutRMW&QoS.md @@ -1,5 +1,5 @@ --- -title: Timeout RMW & QoS in RCLC APIs +title: Timeout RMW & QoS in RCLC APIs author: Maria Merlan --- There are NEW APIs available to improve the usability and scope of micro-ROS: From 382ca03190f10530fd81b86fe2d1447c42d40c1d Mon Sep 17 00:00:00 2001 From: maria merlan <83768223+mamerlan@users.noreply.github.com> Date: Mon, 20 Sep 2021 08:50:43 +0200 Subject: [PATCH 3/3] Update _posts/2021-08-10-TimeoutRMW&QoS.md Co-authored-by: Ralph Lange --- _posts/2021-08-10-TimeoutRMW&QoS.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_posts/2021-08-10-TimeoutRMW&QoS.md b/_posts/2021-08-10-TimeoutRMW&QoS.md index 2e192c51..5673106b 100644 --- a/_posts/2021-08-10-TimeoutRMW&QoS.md +++ b/_posts/2021-08-10-TimeoutRMW&QoS.md @@ -14,7 +14,7 @@ The new RMW API allows the user to set a specific value for the timeout paramete This brings advantages: - Users can control the blocking time of a reliable publication. - - Users can reinforce time constraints to adjust the behaviour to their use case, allowing to fine-tune the timing of the micro-ROS publisher operation. + - Users can reinforce time constraints to adjust the behaviour to their use case, allowing to fine-tune the timing of micro-ROS publisher operations. These enhancements are in line with the strategy of improving usability and scope of micro-ROS. We thank the community and early adopters for their great insights that contribute to enhancing micro-ROS usability and to better focus real use cases.