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apply ROS2 default memory management and publish mode QoS policies; make sure that SharedMemory is only used with FastDDS as the rmw

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This commit is contained in:
TSC21
2021-06-04 14:10:36 +02:00
committed by Nuno Marques
parent 39909128ec
commit 79f7986715
2 changed files with 33 additions and 13 deletions
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25
msg/templates/urtps/Publisher.cpp.em
View File

@@ -100,14 +100,18 @@ bool @(topic)_Publisher::init(const std::string &ns)
PParam.rtps.builtin.leaseDuration = c_TimeInfinite; PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
@[else]@ @[else]@
PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite; PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
@[end if]@
@[if ros2_distro]@
// ROS2 default memory management policy
PParam.rtps.builtin.writerHistoryMemoryPolicy = PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
@[end if]@ @[end if]@
std::string nodeName = ns; std::string nodeName = ns;
nodeName.append("@(topic)_publisher"); nodeName.append("@(topic)_publisher");
PParam.rtps.setName(nodeName.c_str()); PParam.rtps.setName(nodeName.c_str());
// Check if ROS_LOCALHOST_ONLY is set. This means that one wants to use // Check if ROS_LOCALHOST_ONLY is set. This means that one wants to use only
// only the localhost network for data sharing. If FastRTPS/DDS >= 2.0 // the localhost network for data sharing. If FastRTPS/DDS >= 2.0 and
// then the Shared Memory transport is used // RMW_IMPLEMENTATION is FastDDS then the Shared Memory transport is used
const char* localhost_only = std::getenv("ROS_LOCALHOST_ONLY"); const char* localhost_only = std::getenv("ROS_LOCALHOST_ONLY");
if (localhost_only && strcmp(localhost_only, "1") == 0) { if (localhost_only && strcmp(localhost_only, "1") == 0) {
// Create a custom network UDPv4 transport descriptor // Create a custom network UDPv4 transport descriptor
@@ -122,11 +126,16 @@ bool @(topic)_Publisher::init(const std::string &ns)
PParam.rtps.userTransports.push_back(localhostUdpTransport); PParam.rtps.userTransports.push_back(localhostUdpTransport);
@[if version.parse(fastrtps_version) >= version.parse('2.0')]@ @[if version.parse(fastrtps_version) >= version.parse('2.0')]@
// Add shared memory transport when available const char* rmw_implementation = std::getenv("RMW_IMPLEMENTATION");
auto shmTransport = std::make_shared<SharedMemTransportDescriptor>(); const char* ros_distro = std::getenv("RMW_IMPLEMENTATION");
PParam.rtps.userTransports.push_back(shmTransport); if (((rmw_implementation && (strcmp(rmw_implementation, "rmw_fastrtps_cpp") == 0)) || (strcmp(rmw_implementation, "rmw_fastrtps_dynamic_cpp") == 0)) ||
(!rmw_implementation && strcmp(ros_distro, "foxy") == 0)) {
// Add shared memory transport when available
auto shmTransport = std::make_shared<SharedMemTransportDescriptor>();
PParam.rtps.userTransports.push_back(shmTransport);
}
@[end if]@ @[end if]@
} }
mp_participant = Domain::createParticipant(PParam); mp_participant = Domain::createParticipant(PParam);
@@ -153,6 +162,8 @@ bool @(topic)_Publisher::init(const std::string &ns)
topicName.append("@(topic)_PubSubTopic"); topicName.append("@(topic)_PubSubTopic");
Wparam.topic.topicName = topicName; Wparam.topic.topicName = topicName;
@[ end if]@ @[ end if]@
// ROS2 default publish mode QoS policy
Wparam.qos.m_publishMode.kind = ASYNCHRONOUS_PUBLISH_MODE;
@[else]@ @[else]@
std::string topicName = ns; std::string topicName = ns;
topicName.append("@(topic)PubSubTopic"); topicName.append("@(topic)PubSubTopic");

21
msg/templates/urtps/Subscriber.cpp.em
View File

@@ -106,14 +106,18 @@ bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable *t_send
PParam.rtps.builtin.leaseDuration = c_TimeInfinite; PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
@[else]@ @[else]@
PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite; PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
@[end if]@
@[if ros2_distro]@
// ROS2 default memory management policy
PParam.rtps.builtin.writerHistoryMemoryPolicy = PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
@[end if]@ @[end if]@
std::string nodeName = ns; std::string nodeName = ns;
nodeName.append("@(topic)_subscriber"); nodeName.append("@(topic)_subscriber");
PParam.rtps.setName(nodeName.c_str()); PParam.rtps.setName(nodeName.c_str());
// Check if ROS_LOCALHOST_ONLY is set. This means that one wants to use // Check if ROS_LOCALHOST_ONLY is set. This means that one wants to use only
// only the localhost network for data sharing. If FastRTPS/DDS >= 2.0 // the localhost network for data sharing. If FastRTPS/DDS >= 2.0 and
// then the Shared Memory transport is used // RMW_IMPLEMENTATION is FastDDS then the Shared Memory transport is used
const char* localhost_only = std::getenv("ROS_LOCALHOST_ONLY"); const char* localhost_only = std::getenv("ROS_LOCALHOST_ONLY");
if (localhost_only && strcmp(localhost_only, "1") == 0) { if (localhost_only && strcmp(localhost_only, "1") == 0) {
// Create a custom network UDPv4 transport descriptor // Create a custom network UDPv4 transport descriptor
@@ -128,9 +132,14 @@ bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable *t_send
PParam.rtps.userTransports.push_back(localhostUdpTransport); PParam.rtps.userTransports.push_back(localhostUdpTransport);
@[if version.parse(fastrtps_version) >= version.parse('2.0')]@ @[if version.parse(fastrtps_version) >= version.parse('2.0')]@
// Add shared memory transport when available const char* rmw_implementation = std::getenv("RMW_IMPLEMENTATION");
auto shmTransport = std::make_shared<SharedMemTransportDescriptor>(); const char* ros_distro = std::getenv("RMW_IMPLEMENTATION");
PParam.rtps.userTransports.push_back(shmTransport); if (((rmw_implementation && (strcmp(rmw_implementation, "rmw_fastrtps_cpp") == 0)) || (strcmp(rmw_implementation, "rmw_fastrtps_dynamic_cpp") == 0)) ||
(!rmw_implementation && strcmp(ros_distro, "foxy") == 0)) {
// Add shared memory transport when available
auto shmTransport = std::make_shared<SharedMemTransportDescriptor>();
PParam.rtps.userTransports.push_back(shmTransport);
}
@[end if]@ @[end if]@
} }