Updated based on review comments

Signed-off-by: Barry Xu <[email protected]>

rclcpp/include/rclcpp/publisher_base.hpp

@@ -209,7 +209,7 @@ class PublisherBase : public std::enable_shared_from_this<PublisherBase>
    * This function waits until all published message data were acknowledged by all subscribers or
    * timeout.
    *
-   * timeout must be less then std::chrono::nanoseconds::max().
+   * timeout must be less than std::chrono::nanoseconds::max().
    * If the timeout is negative then this function will block indefinitely until all published
    * message data were acknowledged.
    * If the timeout is 0 then this function will be non-blocking; checking all published message
@@ -222,6 +222,7 @@ class PublisherBase : public std::enable_shared_from_this<PublisherBase>
    * \return `true` if all published message data were acknowledged before timeout, otherwise
    *   `false`.
    * \throws rclcpp::exceptions::RCLError if middleware doesn't support or internal error occurs
+   * \throws std::invalid_argument if timeout is greater than nanoseconds::max()
    */
   template<typename DurationRepT = int64_t, typename DurationT = std::milli>
   bool

rclcpp/test/rclcpp/test_publisher.cpp

@@ -29,6 +29,7 @@
 #include "../utils/rclcpp_gtest_macros.hpp"
 
 #include "test_msgs/msg/empty.hpp"
+#include "test_msgs/msg/strings.hpp"
 
 class TestPublisher : public ::testing::Test
 {
@@ -579,3 +580,27 @@ TEST_F(TestPublisher, check_wait_for_all_acked_return) {
       rclcpp::exceptions::RCLError);
   }
 }
+
+class TestPublisherWaitForAllAcked
+  : public TestPublisher, public ::testing::WithParamInterface<rclcpp::QoS>
+{
+};
+
+TEST_P(TestPublisherWaitForAllAcked, check_wait_for_all_acked_with_QosPolicy) {
+  initialize();
+
+  auto do_nothing = [](std::shared_ptr<const test_msgs::msg::Strings>) {};
+  auto pub = node->create_publisher<test_msgs::msg::Strings>("topic", GetParam());
+  auto sub = node->create_subscription<test_msgs::msg::Strings>("topic", 1, do_nothing);
+
+  auto msg = std::make_shared<test_msgs::msg::Strings>();
+  for (int i = 0; i < 20; i++) {
+    ASSERT_NO_THROW(pub->publish(*msg));
+  }
+  EXPECT_TRUE(pub->wait_for_all_acked(std::chrono::milliseconds(500)));
+}
+
+INSTANTIATE_TEST_SUITE_P(
+  TestWaitForAllAckedWithParm,
+  TestPublisherWaitForAllAcked,
+  ::testing::Values(rclcpp::QoS(1).reliable(), rclcpp::QoS(1).best_effort()));