RMW_CONNEXT_ENDPOINT_QOS_OVERRIDE_POLICY clarification

[scn-nmsc]

System Info

• Ubuntu 24.04
• jazzy/binary
• Pro 6.0.1/rtipkg

Bug Description

When using RMW_CONNEXT_ENDPOINT_QOS_OVERRIDE_POLICY="dds_topics:rt/my_topic|rt/my_topic*" and a USER_QOS_PROFILE.xml in the cwd with a topic filter for "rt/my_topic" I would assume that the QoS settings are determined by the profile specified in xml.

In my example I specify a profile with best_effort and deadline for "rt/my_topic" in my xml file.
The subscription by the ros node will however end up with:

1. using the ros qos_profile_sensor_data on the user code level

• best_effort (as specified in xml and on user level)
• deadline (as specified in xml)

2. using the e.g. ros QosProfile(depth=1) on the user code level

• reliable (as specified on user level)
• deadline (as specified in xml)

Meaning the deadline is always set as defined in the xml file, but reliability is determined by the profile specified in the ros application.

Expected Behavior

Profiles in xml determine the QoS settings for topics specified by RMW_CONNEXT_ENDPOINT_QOS_OVERRIDE_POLICY="dds_topics:rt/my_topic|rt/my_other_topic" and topic filter in USER_QOS_PROFILES.xml file.

Alternative solution: a more specific README on how the different QoS settings are determined. For now I am confused by the README and the observed behavior.

[copilot-fy-175]

Also interested in the solution to this

[copilot-fy-175]

@asorbini

[fgallegosalido]

Hi @gabriel-st-angel-aerospace, @asorbini is not currently working on the RMW. Any questions you may have, feel free to ping either me or @lobolanja.

Regarding this issue, we have some plans for the QoSs in general. We'll let you know what our focus for the following release cycle will be.

[copilot-fy-175]

@fgallegosalido I have one query that I tagged you in, it should be quick for you guys to answer. thanks for your help