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ros2 · Oct 7, 2023 · f36cd2a · f36cd2a
1 parent c4f3ab3
commit f36cd2a
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Showing 3 changed files with 20 additions and 24 deletions.
diff --git a/rosbag2_transport/src/rosbag2_transport/player.cpp b/rosbag2_transport/src/rosbag2_transport/player.cpp
@@ -84,9 +84,7 @@ rclcpp::QoS publisher_qos_for_topic(
     YAML::decode_for_version<std::vector<rosbag2_transport::Rosbag2QoS>>(
     profiles_yaml,
     topic.version);
-  return rosbag2_transport::Rosbag2QoS::adapt_offer_to_recorded_offers(
-    topic.name,
-    offered_qos_profiles);
+  return Rosbag2QoS::adapt_offer_to_recorded_offers(topic.name, offered_qos_profiles);
 }
 }  // namespace
 

diff --git a/rosbag2_transport/src/rosbag2_transport/qos.cpp b/rosbag2_transport/src/rosbag2_transport/qos.cpp
@@ -40,7 +40,6 @@ static const rmw_time_t RMW_FASTRTPS_FOXY_INFINITE {0x7FFFFFFFll, 0xFFFFFFFFll};
 static const rmw_time_t RMW_CONNEXT_FOXY_INFINITE  {0x7FFFFFFFll, 0x7FFFFFFFll};
 }  // namespace
 
-
 namespace YAML
 {
 
@@ -132,6 +131,23 @@ bool convert<rmw_time_t>::decode(const Node & node, rmw_time_t & time)
   return true;
 }
 
+Node convert<rosbag2_transport::Rosbag2QoS>::encode(
+  const rosbag2_transport::Rosbag2QoS & qos)
+{
+  const auto & p = qos.get_rmw_qos_profile();
+  Node node;
+  node["history"] = convert<rmw_qos_history_policy_t>::encode(p.history);
+  node["depth"] = p.depth;
+  node["reliability"] = convert<rmw_qos_reliability_policy_t>::encode(p.reliability);
+  node["durability"] = convert<rmw_qos_durability_policy_t>::encode(p.durability);
+  node["deadline"] = p.deadline;
+  node["lifespan"] = p.lifespan;
+  node["liveliness"] = convert<rmw_qos_liveliness_policy_t>::encode(p.liveliness);
+  node["liveliness_lease_duration"] = p.liveliness_lease_duration;
+  node["avoid_ros_namespace_conventions"] = p.avoid_ros_namespace_conventions;
+  return node;
+}
+
 bool convert<rosbag2_transport::Rosbag2QoS>::decode(
   const Node & node, rosbag2_transport::Rosbag2QoS & qos, int version)
 {
@@ -161,23 +177,6 @@ bool convert<rosbag2_transport::Rosbag2QoS>::decode(
   .avoid_ros_namespace_conventions(node["avoid_ros_namespace_conventions"].as<bool>());
   return true;
 }
-
-Node convert<rosbag2_transport::Rosbag2QoS>::encode(
-  const rosbag2_transport::Rosbag2QoS & qos)
-{
-  const auto & p = qos.get_rmw_qos_profile();
-  Node node;
-  node["history"] = convert<rmw_qos_history_policy_t>::encode(p.history);
-  node["depth"] = p.depth;
-  node["reliability"] = convert<rmw_qos_reliability_policy_t>::encode(p.reliability);
-  node["durability"] = convert<rmw_qos_durability_policy_t>::encode(p.durability);
-  node["deadline"] = p.deadline;
-  node["lifespan"] = p.lifespan;
-  node["liveliness"] = convert<rmw_qos_liveliness_policy_t>::encode(p.liveliness);
-  node["liveliness_lease_duration"] = p.liveliness_lease_duration;
-  node["avoid_ros_namespace_conventions"] = p.avoid_ros_namespace_conventions;
-  return node;
-}
 }  // namespace YAML
 
 namespace rosbag2_transport
@@ -262,8 +261,7 @@ bool operator==(const rmw_time_t & lhs, const rmw_time_t & rhs)
   * policies that affect compatibility.
   * This means it excludes history and lifespan from the equality check.
   */
-template<typename T>
-bool all_profiles_effectively_same(const std::vector<T> & profiles)
+bool all_profiles_effectively_same(const std::vector<Rosbag2QoS> & profiles)
 {
   auto iterator = profiles.begin();
   const auto p_ref = iterator->get_rmw_qos_profile();

diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -508,7 +508,7 @@ std::string RecorderImpl::serialized_offered_qos_profiles_for_topic(
 {
   YAML::Node offered_qos_profiles;
   for (const auto & info : topics_endpoint_info) {
-    offered_qos_profiles.push_back(rosbag2_transport::Rosbag2QoS(info.qos_profile()));
+    offered_qos_profiles.push_back(Rosbag2QoS(info.qos_profile()));
   }
   return YAML::Dump(offered_qos_profiles);
 }