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Document which QoS policies are correctly read by rmw_get_publishers/subscriptions_info_by_topic #308

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ivanpauno merged 6 commits into from
Apr 13, 2021
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Document which QoS policies are correctly read by rmw_get_publishers/subscriptions_info_by_topic #308

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Document which QoS policies are correctly read by rmw_get_publishers/…
ivanpauno Apr 12, 2021
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ivanpauno Apr 12, 2021
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ivanpauno Apr 12, 2021
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Be more clear about what is specific of DDS
ivanpauno Apr 12, 2021
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11 changes: 11 additions & 0 deletions rmw/include/rmw/get_topic_endpoint_info.h
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Expand Up @@ -31,6 +31,14 @@ extern "C"
* the associated topic type, the publisher's gid, and the publisher QoS profile.
* Names of non-existent topics are allowed, in which case an empty array will be returned.
*
* \par QoS that are correctly read
* The QoS profiles returned might have some invalid fields.
* The rmw implementation must set the invalid fields to `RMW_QOS_POLICY_*_UNKNOWN`.
* For DDS based implementations, the only QoS policies that are guaranteed to be shared
* during discovery are the ones that participate in endpoint matching.
* From the current QoS settings available, the only ones not shared by DDS based
* implementations are `history` and `history_depth`.
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
Expand Down Expand Up @@ -105,6 +113,9 @@ rmw_get_publishers_info_by_topic(
* the associated topic type, the subscription's gid, and the subscription QoS profile.
* Names of non-existent topics are allowed, in which case an empty array will be returned.
*
* \par QoS that are correctly read
* Not all QoS may be read correctly, \sa rmw_get_publishers_info_by_topic() for more details.
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
Expand Down