Intra-process subscriber should use RMW actual qos. (#913) (#914)

* Intra-process subscriber should use RMW actual qos. (#913) Signed-off-by: Todd Malsbary <[email protected]>
ros2 · Nov 25, 2019 · 59e7bbb · 59e7bbb
1 parent 88a342d
commit 59e7bbb
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Showing 2 changed files with 5 additions and 8 deletions.
diff --git a/rclcpp/include/rclcpp/subscription.hpp b/rclcpp/include/rclcpp/subscription.hpp
@@ -124,15 +124,16 @@ class Subscription : public SubscriptionBase
       using rclcpp::detail::resolve_intra_process_buffer_type;
 
       // Check if the QoS is compatible with intra-process.
-      if (qos.get_rmw_qos_profile().history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
+      rmw_qos_profile_t qos_profile = get_actual_qos().get_rmw_qos_profile();
+      if (qos_profile.history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
         throw std::invalid_argument(
                 "intraprocess communication is not allowed with keep all history qos policy");
       }
-      if (qos.get_rmw_qos_profile().depth == 0) {
+      if (qos_profile.depth == 0) {
         throw std::invalid_argument(
                 "intraprocess communication is not allowed with 0 depth qos policy");
       }
-      if (qos.get_rmw_qos_profile().durability != RMW_QOS_POLICY_DURABILITY_VOLATILE) {
+      if (qos_profile.durability != RMW_QOS_POLICY_DURABILITY_VOLATILE) {
         throw std::invalid_argument(
                 "intraprocess communication allowed only with volatile durability");
       }
@@ -149,7 +150,7 @@ class Subscription : public SubscriptionBase
         options.get_allocator(),
         context,
         this->get_topic_name(),    // important to get like this, as it has the fully-qualified name
-        qos.get_rmw_qos_profile(),
+        qos_profile,
         resolve_intra_process_buffer_type(options.intra_process_buffer_type, callback)
         );
       TRACEPOINT(

diff --git a/rclcpp/test/test_subscription.cpp b/rclcpp/test/test_subscription.cpp
@@ -287,10 +287,6 @@ static std::vector<TestParameters> invalid_qos_profiles()
     TestParameters(
       rclcpp::QoS(rclcpp::KeepAll()),
       "keep_all_qos"));
-  parameters.push_back(
-    TestParameters(
-      rclcpp::QoS(rclcpp::KeepLast(0)),
-      "keep_last_zero_depth_qos"));
 
   return parameters;
 }