add event_type_is_supported() for Publisher/Subscription.#3132
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fujitatomoya wants to merge 1 commit intorollingfrom
Open
add event_type_is_supported() for Publisher/Subscription.#3132fujitatomoya wants to merge 1 commit intorollingfrom
fujitatomoya wants to merge 1 commit intorollingfrom
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Signed-off-by: Tomoya Fujita <tomoya.fujita825@gmail.com>
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Pull request overview
This PR adds a public runtime capability-check API to rclcpp so application code (and rclcpp tests) can determine whether specific publisher/subscription QoS event types are supported by the currently loaded RMW implementation, via PublisherBase/SubscriptionBase.
Changes:
- Add
PublisherBase::event_type_is_supported(rcl_publisher_event_type_t)andSubscriptionBase::event_type_is_supported(rcl_subscription_event_type_t)as public static APIs that forward torclsupport-check functions. - Update
test_qos_event.cppto use the newrclcppAPIs instead ofrmw_event_type_is_supported(...). - Add unit tests asserting the
rclcppAPI results match the underlyingrclresults.
Reviewed changes
Copilot reviewed 5 out of 5 changed files in this pull request and generated no comments.
Show a summary per file
| File | Description |
|---|---|
| rclcpp/test/rclcpp/test_qos_event.cpp | Switches capability checks to the new rclcpp APIs and adds parity tests vs rcl. |
| rclcpp/src/rclcpp/subscription_base.cpp | Implements SubscriptionBase::event_type_is_supported() by forwarding to rcl_subscription_event_type_is_supported(). |
| rclcpp/src/rclcpp/publisher_base.cpp | Implements PublisherBase::event_type_is_supported() by forwarding to rcl_publisher_event_type_is_supported(). |
| rclcpp/include/rclcpp/subscription_base.hpp | Declares the new public static capability-check API for subscriptions with Doxygen docs. |
| rclcpp/include/rclcpp/publisher_base.hpp | Declares the new public static capability-check API for publishers with Doxygen docs. |
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fujitatomoya
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Apr 15, 2026
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@ahcorde can you review this?
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| if (rclcpp::PublisherBase::event_type_is_supported(RCL_PUBLISHER_OFFERED_DEADLINE_MISSED) && | ||
| rclcpp::PublisherBase::event_type_is_supported(RCL_PUBLISHER_LIVELINESS_LOST)) |
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now we have these APIs, so that call rclcpp APIs instead of rmws.
ahcorde
approved these changes
Apr 16, 2026
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Description
depends on ros2/rcl#1317
Fixes # (issue)
Is this user-facing behavior change?
No
Did you use Generative AI?
Yes Claude Code Opus4.6
Additional Information