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updated to r2r=0.9.5 #12

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Merged
sebastianHi merged 1 commit into from
Jun 22, 2026
Merged

updated to r2r=0.9.5 #12

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2 changes: 1 addition & 1 deletion monitor/Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,6 @@ rtlola-interpreter-macros = "0.1.0"
serde = { version = "1.0.145", features = ["derive"] }
bincode = "1.3.3"
byteorder = "1.3.4"
r2r = "0.9.4"
r2r = "0.9.5"
futures = "0.3.19"
tokio = { version = "1.28.2", features = ["full"] }
12 changes: 8 additions & 4 deletions monitor/build_src/ros2_reader.rs
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Expand Up @@ -71,7 +71,8 @@ impl Ros2Reader {
"RMW_QOS_POLICY_HISTORY_KEEP_LAST" => String::from("KeepLast"),
"RMW_QOS_POLICY_HISTORY_KEEP_ALL" => String::from("KeepAll"),
"RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT" => String::from("SystemDefault"),
_ => String::from("Unknown"),
"RMW_QOS_POLICY_HISTORY_UNKNOWN" => String::from("Unknown"),
_ => config.QoS_Default.history.clone()
}
} else {
config.QoS_Default.history.clone()
Expand All @@ -90,7 +91,8 @@ impl Ros2Reader {
"RMW_QOS_POLICY_RELIABILITY_RELIABLE" => String::from("Reliable"),
"RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT" => String::from("BestEffort"),
"RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT" => String::from("SystemDefault"),
_ => String::from("Unknown"),
"RMW_QOS_POLICY_RELIABILITY_UNKNOWN" => String::from("Unknown"),
_ => config.QoS_Default.reliability.clone(),
}
} else {
config.QoS_Default.reliability.clone()
Expand All @@ -101,7 +103,8 @@ impl Ros2Reader {
"RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL" => String::from("TransientLocal"),
"RMW_QOS_POLICY_DURABILITY_VOLATILE" => String::from("Volatile"),
"RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT" => String::from("SystemDefault"),
_ => String::from("Unknown"),
"RMW_QOS_POLICY_DURABILITY_UNKNOWN" => String::from("Unknown"),
_ => config.QoS_Default.durability.clone(),
}
} else {
config.QoS_Default.durability.clone()
Expand Down Expand Up @@ -134,7 +137,8 @@ impl Ros2Reader {
"RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT" => String::from("SystemDefault"),
"RMW_QOS_POLICY_LIVELINESS_AUTOMATIC" => String::from("Automatic"),
"RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC" => String::from("ManualByTopic"),
_ => String::from("Unknown"),
"RMW_QOS_POLICY_LIVELINESS_UNKNOWN" => String::from("Unknown"),
_ => config.QoS_Default.liveliness.clone(),
}
} else {
config.QoS_Default.liveliness.clone()
Expand Down
12 changes: 6 additions & 6 deletions monitor/ros2_config.toml
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Expand Up @@ -15,21 +15,21 @@ history = "KeepLast" # Options: KeepAll, KeepLast, Sy
depth = 10 # integer for queue size
reliability = "Reliable" # Options: BestEffort, Reliable, SystemDefault
durability = "Volatile" # Options: TransientLocal, Volatile, SystemDefault, Unknown
deadline_ms = 20000 # in milliseconds
lifespan_ms = 20000 # in milliseconds
deadline_ms = 0 # in milliseconds
lifespan_ms = 0 # in milliseconds
liveliness = "Automatic" # Options: Automatic, ManualByTopic, SystemDefault, Unknown
liveliness_lease_duration_ms = 20000 # in milliseconds
liveliness_lease_duration_ms = 0 # in milliseconds
avoid_ros_namespace_conventions = false # set to false to use ROS prefix and true to not using ROS namespace prefixing

[QoS_RTLolaOutput]
history = "KeepLast" # Options: KeepAll, KeepLast, SystemDefault, Unknown
depth = 10 # integer for queue size
reliability = "Reliable" # Options: BestEffort, Reliable, SystemDefault
durability = "Volatile" # Options: TransientLocal, Volatile, SystemDefault, Unknown
deadline_ms = 20000 # in milliseconds
lifespan_ms = 20000 # in milliseconds
deadline_ms = 0 # in milliseconds
lifespan_ms = 0 # in milliseconds
liveliness = "Automatic" # Options: Automatic, ManualByTopic, SystemDefault, Unknown
liveliness_lease_duration_ms = 20000 # in milliseconds
liveliness_lease_duration_ms = 0 # in milliseconds
avoid_ros_namespace_conventions = false # set to false to use ROS prefix and true to not using ROS namespace prefixing

[QoS_RTLolaService]
Expand Down
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