Add qos parameter for wait_for_message function #2903

ghanta1996 · 2025-07-12T02:30:19Z

Description

A small change to include the QoS settings as one of the parameters for rclcpp::wait_for_message. This is useful in cases where we want just to get the last published message on the topic, rather than always waiting for a new message.

Fixes # (issue)

Is this user-facing behavior change?

Did you use Generative AI?

No

Additional Information

fujitatomoya

Can you also add the test for QoS optional argument?

rclcpp/include/rclcpp/wait_for_message.hpp

fujitatomoya · 2025-07-13T16:36:41Z

@ghanta1996 there is another thing i should have mentioned before, can your retarget this PR against rolling? that is our development branch and if that fix can keep the API/ABI compatibility, we can consider the backport to the downstream distros. sorry i should have mentioned this 1st.

ghanta1996 · 2025-07-13T23:26:31Z

@fujitatomoya No worries. I have rebased my branch to rolling and updated the PR accordingly. Thanks

Signed-off-by: Sriharsha Ghanta <[email protected]> Signed-off-by: Sriharsha Ghanta <[email protected]> Signed-off-by: Sriharsha Ghanta <[email protected]>

Signed-off-by: Sriharsha Ghanta <[email protected]> Signed-off-by: Sriharsha Ghanta <[email protected]> Signed-off-by: Sriharsha Ghanta <[email protected]> Signed-off-by: Sriharsha Ghanta <[email protected]>

Add test case for using QoS Signed-off-by: Sriharsha Ghanta <[email protected]> Signed-off-by: Sriharsha Ghanta <[email protected]> Signed-off-by: Sriharsha Ghanta <[email protected]>

Signed-off-by: Sriharsha Ghanta <[email protected]> Signed-off-by: Sriharsha Ghanta <[email protected]> Signed-off-by: Sriharsha Ghanta <[email protected]>

Signed-off-by: Sriharsha Ghanta <[email protected]>

ahcorde

uncrustufy is failing https://build.ros2.org/job/Rpr__rclcpp__ubuntu_noble_amd64/708/testReport/junit/(root)/projectroot/uncrustify/

rclcpp/test/rclcpp/test_wait_for_message.cpp

fujitatomoya

just a minor nitpick, and lgtm with @ahcorde 's comment resolved. thanks 👍

fujitatomoya · 2025-07-14T15:54:00Z

rclcpp/include/rclcpp/wait_for_message.hpp

@@ -78,11 +79,13 @@ bool wait_for_message(
 /// Wait for the next incoming message.
 /**
 * Wait for the next incoming message to arrive on a specified topic before the specified timeout.
- *
- * \param[out] out is the message to be filled when a new message is arriving.
+ * Specify the QoS settings for the subscription to control how messages are received.


i would remove this comment, it is pretty much the duplication of qos parameter explanation in the main body.

Signed-off-by: Sriharsha Ghanta <[email protected]>

Signed-off-by: Alejandro Hernandez Cordero <[email protected]>

ahcorde · 2025-07-14T17:58:48Z

Pulls: #2903
Gist: https://gist.githubusercontent.com/ahcorde/ed15e9d8cb0ee699f0da4c2e779588d4/raw/1e21fb39d53a36fc56f61494a103fab3e9d7b2bd/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp
TEST args: --packages-above rclcpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16493

Linux
Linux-aarch64
Linux-rhel
Windows

fujitatomoya · 2025-07-16T16:11:48Z

The added parameter in the function signature is given a default value.
This means existing code that calls wait_for_message without specifying the qos parameter will continue to work exactly as before.
The function’s usage, binary compatibility (ABI), and source compatibility (API) are preserved.

I am gonna try to backport this fix to downstream distros.

fujitatomoya · 2025-07-16T16:12:02Z

@Mergifyio backport kilted jazzy humble

mergify · 2025-07-16T16:12:15Z

backport kilted jazzy humble

✅ Backports have been created

#2905 Add qos parameter for wait_for_message function (backport #2903) has been created for branch kilted
#2906 Add qos parameter for wait_for_message function (backport #2903) has been created for branch jazzy
#2907 Add qos parameter for wait_for_message function (backport #2903) has been created for branch humble

Signed-off-by: Sriharsha Ghanta <[email protected]> Signed-off-by: Alejandro Hernandez Cordero <[email protected]> Co-authored-by: Alejandro Hernandez Cordero <[email protected]> (cherry picked from commit 2fcef70)

(cherry picked from commit 2fcef70) Signed-off-by: Sriharsha Ghanta <[email protected]> Signed-off-by: Alejandro Hernandez Cordero <[email protected]> Co-authored-by: Sriharsha Ghanta <[email protected]> Co-authored-by: Alejandro Hernandez Cordero <[email protected]>

ghanta1996 force-pushed the feat/qos-profile-for-wait_for_message branch from 9e72fbc to 68ed3dd Compare July 12, 2025 02:33

fujitatomoya requested changes Jul 12, 2025

View reviewed changes

rclcpp/include/rclcpp/wait_for_message.hpp Outdated Show resolved Hide resolved

ghanta1996 force-pushed the feat/qos-profile-for-wait_for_message branch 2 times, most recently from acb459f to 3b88d28 Compare July 13, 2025 07:53

ghanta1996 changed the base branch from jazzy to rolling July 13, 2025 23:15

ghanta1996 force-pushed the feat/qos-profile-for-wait_for_message branch from 3b88d28 to 22b6109 Compare July 13, 2025 23:21

ghanta1996 added 5 commits July 14, 2025 10:00

Add qos parameter for wait_for_message function

b48b3d2

Signed-off-by: Sriharsha Ghanta <[email protected]> Signed-off-by: Sriharsha Ghanta <[email protected]> Signed-off-by: Sriharsha Ghanta <[email protected]>

fix typo, include qos header

3b24135

Signed-off-by: Sriharsha Ghanta <[email protected]> Signed-off-by: Sriharsha Ghanta <[email protected]> Signed-off-by: Sriharsha Ghanta <[email protected]> Signed-off-by: Sriharsha Ghanta <[email protected]>

Change QoS to SystemDefaultQoS

60bfd96

Add test case for using QoS Signed-off-by: Sriharsha Ghanta <[email protected]> Signed-off-by: Sriharsha Ghanta <[email protected]> Signed-off-by: Sriharsha Ghanta <[email protected]>

fix compilation

1d6d5dd

Signed-off-by: Sriharsha Ghanta <[email protected]> Signed-off-by: Sriharsha Ghanta <[email protected]> Signed-off-by: Sriharsha Ghanta <[email protected]>

fix: cpplint

258703a

Signed-off-by: Sriharsha Ghanta <[email protected]> Signed-off-by: Sriharsha Ghanta <[email protected]> Signed-off-by: Sriharsha Ghanta <[email protected]>

ghanta1996 force-pushed the feat/qos-profile-for-wait_for_message branch 2 times, most recently from a31cd3c to 87bc402 Compare July 14, 2025 02:00

fix coding style

117d00f

Signed-off-by: Sriharsha Ghanta <[email protected]>

ghanta1996 force-pushed the feat/qos-profile-for-wait_for_message branch from 87bc402 to 117d00f Compare July 14, 2025 02:16

ghanta1996 requested a review from fujitatomoya July 14, 2025 02:35

ahcorde requested changes Jul 14, 2025

View reviewed changes

rclcpp/test/rclcpp/test_wait_for_message.cpp Show resolved Hide resolved

fujitatomoya approved these changes Jul 14, 2025

View reviewed changes

ghanta1996 added 2 commits July 14, 2025 23:56

fix build

6cf34e7

Signed-off-by: Sriharsha Ghanta <[email protected]>

add include future, remove the comment

62bec11

Signed-off-by: Sriharsha Ghanta <[email protected]>

ghanta1996 requested a review from ahcorde July 14, 2025 16:06

ahcorde approved these changes Jul 14, 2025

View reviewed changes

alphabetize headers

f033f02

Signed-off-by: Alejandro Hernandez Cordero <[email protected]>

ahcorde merged commit 2fcef70 into ros2:rolling Jul 16, 2025
2 of 3 checks passed

This was referenced Jul 16, 2025

Add qos parameter for wait_for_message function (backport #2903) #2905

Merged

Add qos parameter for wait_for_message function (backport #2903) #2906

Merged

mergify bot mentioned this pull request Jul 16, 2025

Add qos parameter for wait_for_message function (backport #2903) #2907

Merged

ghanta1996 deleted the feat/qos-profile-for-wait_for_message branch July 18, 2025 06:37

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Uh oh!

Add qos parameter for wait_for_message function #2903

Add qos parameter for wait_for_message function #2903

Uh oh!

ghanta1996 commented Jul 12, 2025

Uh oh!

fujitatomoya left a comment

Uh oh!

Uh oh!

fujitatomoya commented Jul 13, 2025

Uh oh!

ghanta1996 commented Jul 13, 2025

Uh oh!

ahcorde left a comment

Uh oh!

Uh oh!

fujitatomoya left a comment

Uh oh!

fujitatomoya Jul 14, 2025

Uh oh!

ahcorde commented Jul 14, 2025 •

edited

Loading

Uh oh!

Uh oh!

fujitatomoya commented Jul 16, 2025

Uh oh!

fujitatomoya commented Jul 16, 2025

Uh oh!

mergify bot commented Jul 16, 2025 •

edited

Loading

Uh oh!

Uh oh!

Add qos parameter for wait_for_message function #2903

Add qos parameter for wait_for_message function #2903

Uh oh!

Conversation

ghanta1996 commented Jul 12, 2025

Description

Is this user-facing behavior change?

Did you use Generative AI?

Additional Information

Uh oh!

fujitatomoya left a comment

Choose a reason for hiding this comment

Uh oh!

Uh oh!

fujitatomoya commented Jul 13, 2025

Uh oh!

ghanta1996 commented Jul 13, 2025

Uh oh!

ahcorde left a comment

Choose a reason for hiding this comment

Uh oh!

Uh oh!

fujitatomoya left a comment

Choose a reason for hiding this comment

Uh oh!

fujitatomoya Jul 14, 2025

Choose a reason for hiding this comment

Uh oh!

ahcorde commented Jul 14, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

Uh oh!

fujitatomoya commented Jul 16, 2025

Uh oh!

fujitatomoya commented Jul 16, 2025

Uh oh!

mergify bot commented Jul 16, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

✅ Backports have been created

Uh oh!

Uh oh!

ahcorde commented Jul 14, 2025 •

edited

Loading

mergify bot commented Jul 16, 2025 •

edited

Loading