Integration Service enables a standardized intercommunication of numerous protocols: Fast DDS, FIWARE, ROS, ROS 2 and WebSocket.
It is well known that QoS (Quality of Service) policies are critical to tune communication between nodes (Reliability, Durability, Liveliness, Lease duration,…).
QoS are ROS 2 features that define data behaviour models for the ROS 2 entities. An experienced user with knowledge of ROS 2 systems recognizes how the QoS are applied and what effect they would have on each of the entities.
Now, Integration Service provides support for ROS 2 QoS by means of the ROS 2 System Handle. Meaning that the wide variety of settings that ROS 2 provides can be also configured in Integration Service.
If you want to dig into more details:
We have created a NEW detailed example based on a widely extended case in the robotics world: the bridge between DDS and ROS 2.
You will find how the YAML file should be configured so that these QoS are made effective in the internal entities of Integration Service. Check it out here.
This functionality, which has been repeatedly asked for by the community, is not yet fully tested. Therefore, we kindly invite users to volunteer using it and provide feedback!