use rustdds::{policy::*, *};
pub mod ros_discovery {
use super::*;
lazy_static! {
pub static ref QOS_PUB: QosPolicies = QosPolicyBuilder::new()
.durability(Durability::TransientLocal)
.deadline(Deadline(Duration::INFINITE))
.ownership(Ownership::Shared)
.reliable(Duration::ZERO)
.history(History::KeepLast { depth: 1 })
.lifespan(Lifespan {
duration: Duration::INFINITE
})
.build();
pub static ref QOS_SUB: QosPolicies = QosPolicyBuilder::new()
.durability(Durability::Volatile)
.ownership(Ownership::Shared)
.reliable(Duration::ZERO)
.history(History::KeepLast { depth: 1 })
.lifespan(Lifespan {
duration: Duration::INFINITE
})
.build();
}
pub const TOPIC_NAME: &str = "ros_discovery_info";
pub const TYPE_NAME: &str = "rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_";
}
pub mod parameter_events {
use super::*;
lazy_static! {
pub static ref QOS: QosPolicies = QosPolicyBuilder::new()
.durability(Durability::TransientLocal)
.reliable(Duration::ZERO)
.history(History::KeepLast { depth: 1 })
.build();
}
pub const TOPIC_NAME: &str = "rt/parameter_events";
pub const TYPE_NAME: &str = "rcl_interfaces::msg::dds_::ParameterEvent_";
}
pub mod rosout {
use super::*;
lazy_static! {
pub static ref QOS: QosPolicies = QosPolicyBuilder::new()
.durability(Durability::TransientLocal)
.deadline(Deadline(Duration::INFINITE))
.ownership(Ownership::Shared)
.reliable(Duration::ZERO)
.history(History::KeepLast { depth: 1 })
.lifespan(Lifespan {
duration: Duration::from_secs(10)
})
.build();
}
pub const TOPIC_NAME: &str = "rt/rosout";
pub const TYPE_NAME: &str = "rcl_interfaces::msg::dds_::Log_";
}