Options pattern (spin-off of #427) (#429)

* Migrate to SubscriptionOptions

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Migrate to PublisherOptions

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Migrate to ServiceOptions

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Migrate to ClientOptions

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Enable direct creation of the _Options for all primitive types

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Fix example formatting

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Fix docs

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Make deadline, liveliness_lease, and lifespan all symmetric

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Add an API to the primitive options builder for avoiding ROS namespace conventions

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Retrigger CI

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Fix: Override all profile options when using .qos

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Reword the warning for system_qos

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Reword the warning for QoSProfile::system_default

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Rename PrimitiveOptions::apply to apply_to

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

---------

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>
Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>

Author: mxgrey

rclrs/message_demo/src/message_demo.rs

@@ -143,23 +143,19 @@ fn demonstrate_pubsub() -> Result<(), Error> {
     let mut executor = Context::default_from_env()?.create_basic_executor();
     let node = executor.create_node("message_demo")?;
 
-    let idiomatic_publisher = node
-        .create_publisher::<rclrs_example_msgs::msg::VariousTypes>("topic", QOS_PROFILE_DEFAULT)?;
-    let direct_publisher = node.create_publisher::<rclrs_example_msgs::msg::rmw::VariousTypes>(
-        "topic",
-        QOS_PROFILE_DEFAULT,
-    )?;
+    let idiomatic_publisher =
+        node.create_publisher::<rclrs_example_msgs::msg::VariousTypes>("topic")?;
+    let direct_publisher =
+        node.create_publisher::<rclrs_example_msgs::msg::rmw::VariousTypes>("topic")?;
 
     let _idiomatic_subscription = node
         .create_subscription::<rclrs_example_msgs::msg::VariousTypes, _>(
             "topic",
-            QOS_PROFILE_DEFAULT,
             move |_msg: rclrs_example_msgs::msg::VariousTypes| println!("Got idiomatic message!"),
         )?;
     let _direct_subscription = node
         .create_subscription::<rclrs_example_msgs::msg::rmw::VariousTypes, _>(
             "topic",
-            QOS_PROFILE_DEFAULT,
             move |_msg: rclrs_example_msgs::msg::rmw::VariousTypes| {
                 println!("Got RMW-native message!")
             },

rclrs/minimal_pub_sub/src/minimal_publisher.rs

@@ -7,7 +7,7 @@ fn main() -> Result<(), Error> {
 
     let node = executor.create_node("minimal_publisher")?;
 
-    let publisher = node.create_publisher::<std_msgs::msg::String>("topic", QOS_PROFILE_DEFAULT)?;
+    let publisher = node.create_publisher::<std_msgs::msg::String>("topic")?;
 
     let mut message = std_msgs::msg::String::default();
 

rclrs/minimal_pub_sub/src/minimal_subscriber.rs

@@ -11,7 +11,6 @@ fn main() -> Result<(), Error> {
 
     let _subscription = node.create_subscription::<std_msgs::msg::String, _>(
         "topic",
-        QOS_PROFILE_DEFAULT,
         move |msg: std_msgs::msg::String| {
             num_messages += 1;
             println!("I heard: '{}'", msg.data);

rclrs/minimal_pub_sub/src/minimal_two_nodes.rs

@@ -26,7 +26,6 @@ impl MinimalSubscriber {
             .node
             .create_subscription::<std_msgs::msg::String, _>(
                 topic,
-                QOS_PROFILE_DEFAULT,
                 move |msg: std_msgs::msg::String| {
                     minimal_subscriber_aux.callback(msg);
                 },
@@ -55,8 +54,7 @@ fn main() -> Result<(), Error> {
     let _subscriber_node_two =
         MinimalSubscriber::new(&executor, "minimal_subscriber_two", "topic")?;
 
-    let publisher =
-        publisher_node.create_publisher::<std_msgs::msg::String>("topic", QOS_PROFILE_DEFAULT)?;
+    let publisher = publisher_node.create_publisher::<std_msgs::msg::String>("topic")?;
 
     std::thread::spawn(move || -> Result<(), RclrsError> {
         let mut message = std_msgs::msg::String::default();

rclrs/minimal_pub_sub/src/zero_copy_publisher.rs

@@ -7,8 +7,7 @@ fn main() -> Result<(), Error> {
 
     let node = executor.create_node("minimal_publisher")?;
 
-    let publisher =
-        node.create_publisher::<std_msgs::msg::rmw::UInt32>("topic", QOS_PROFILE_DEFAULT)?;
+    let publisher = node.create_publisher::<std_msgs::msg::rmw::UInt32>("topic")?;
 
     let mut publish_count: u32 = 1;
 

rclrs/minimal_pub_sub/src/zero_copy_subscriber.rs

@@ -10,8 +10,7 @@ fn main() -> Result<(), Error> {
 
     let _subscription = node.create_subscription::<std_msgs::msg::UInt32, _>(
         "topic",
-        QOS_PROFILE_DEFAULT,
-        move |msg: ReadOnlyLoanedMessage<'_, std_msgs::msg::UInt32>| {
+        move |msg: rclrs::ReadOnlyLoanedMessage<'_, std_msgs::msg::UInt32>| {
             num_messages += 1;
             println!("I heard: '{}'", msg.data);
             println!("(Got {} messages so far)", num_messages);

rclrs/rust_pubsub/src/simple_publisher.rs

@@ -9,9 +9,7 @@ struct SimplePublisher {
 impl SimplePublisher {
     fn new(executor: &Executor) -> Result<Self, RclrsError> {
         let node = executor.create_node("simple_publisher").unwrap();
-        let publisher = node
-            .create_publisher("publish_hello", QOS_PROFILE_DEFAULT)
-            .unwrap();
+        let publisher = node.create_publisher("publish_hello").unwrap();
         Ok(Self { publisher })
     }
 

rclrs/rust_pubsub/src/simple_subscriber.rs

@@ -17,13 +17,9 @@ impl SimpleSubscriptionNode {
         let data: Arc<Mutex<Option<StringMsg>>> = Arc::new(Mutex::new(None));
         let data_mut: Arc<Mutex<Option<StringMsg>>> = Arc::clone(&data);
         let _subscriber = node
-            .create_subscription::<StringMsg, _>(
-                "publish_hello",
-                QOS_PROFILE_DEFAULT,
-                move |msg: StringMsg| {
-                    *data_mut.lock().unwrap() = Some(msg);
-                },
-            )
+            .create_subscription::<StringMsg, _>("publish_hello", move |msg: StringMsg| {
+                *data_mut.lock().unwrap() = Some(msg);
+            })
             .unwrap();
         Ok(Self { _subscriber, data })
     }