Add RMW function to check QoS compatibility (ros2#286)

Implements ros2/rmw#299 Depends on ros2/rmw_dds_common#45 Signed-off-by: Jacob Perron <[email protected]>
eboasson · May 18, 2022 · b9b41de · b9b41de
1 parent 29794f0
commit b9b41de
Showing 1 changed file with 12 additions and 0 deletions.
diff --git a/rmw_cyclonedds_cpp/src/rmw_node.cpp b/rmw_cyclonedds_cpp/src/rmw_node.cpp
@@ -70,6 +70,7 @@
 #include "rmw_dds_common/context.hpp"
 #include "rmw_dds_common/graph_cache.hpp"
 #include "rmw_dds_common/msg/participant_entities_info.hpp"
+#include "rmw_dds_common/qos.hpp"
 
 #include "rosidl_typesupport_cpp/message_type_support.hpp"
 
@@ -4688,3 +4689,14 @@ extern "C" rmw_ret_t rmw_get_subscriptions_info_by_topic(
     allocator,
     subscriptions_info);
 }
+
+extern "C" rmw_ret_t rmw_qos_profile_check_compatible(
+  const rmw_qos_profile_t publisher_profile,
+  const rmw_qos_profile_t subscription_profile,
+  rmw_qos_compatibility_type_t * compatibility,
+  char * reason,
+  size_t reason_size)
+{
+  return rmw_dds_common::qos_profile_check_compatible(
+    publisher_profile, subscription_profile, compatibility, reason, reason_size);
+}