#include <rmw_entity.h>

Data Fields
uint16_t	_reserved0

uint8_t	_reserved1 [3]

uint8_t	avoid_ros_namespace_conventions

uint32_t	deadline_ms

uint16_t	depth

uint8_t	durability

uint8_t	history

uint32_t	lifespan_ms

uint8_t	liveliness_kind

uint32_t	liveliness_lease_ms

uint8_t	reliability

Detailed Description

Full DDS-shaped QoS profile.

Matches the field set of upstream rmw_qos_profile_t. Backends advertise per-policy support via the runtime's supported_qos_policies() query; entities created with a profile the active backend can't honour return NROS_RMW_RET_INCOMPATIBLE_QOS synchronously at create time — no silent downgrade.

Zero-valued fields ("off") preserve the cheap default for apps that don't request the policy:

deadline_ms = 0 → infinite deadline (no check).
lifespan_ms = 0 → infinite lifespan (no expiry).
liveliness_kind = NONE → no liveliness tracking.
liveliness_lease_ms = 0 → infinite lease.

Boundary semantics (phase-301, issue 0241). Durations are u32 MILLISECONDS; that width is part of the contract:

0 = unset/no-check (matches upstream RMW_QOS_*_DEFAULT, the zero time — a "real 0-duration" is inexpressible upstream too).
NROS_RMW_DURATION_INFINITE_MS = explicit infinite.
Callers lowering finer-grained times MUST round sub-ms values UP to 1 ms (rounding down would silently turn a real deadline into "no deadline") and MUST reject values past the u32-ms range (other than the infinite sentinel) at create time (NROS_RMW_RET_INVALID_ARGUMENT) — never clamp.

depth is uint16_t (max 65 535). Embedded ROS application queue depths are typically 1–100; the 16-bit width saves two bytes per entity vs the upstream 32-bit choice. A requested depth the width cannot represent is a create-time error, never a silent saturate (phase-301, issue 0241).

Pure policy mirror (phase-301, issue 0240). Transport hints (tx_express, rx_buffer_hint) moved OUT of this struct into rmw_publisher_options_t / rmw_subscription_options_t — the upstream rmw_publisher_options_t / rmw_subscription_options_t home for exactly that class. QoS carries DDS policy only; hint growth no longer churns this ABI.

Field Documentation

◆ _reserved0

uint16_t rmw_qos_profile_t::_reserved0

Reserved; must be zero.

◆ _reserved1

uint8_t rmw_qos_profile_t::_reserved1[3]

Reserved; must be zero.

◆ avoid_ros_namespace_conventions

uint8_t rmw_qos_profile_t::avoid_ros_namespace_conventions

If non-zero, topic-name encoding skips the ROS /rt/ prefix and uses raw application names. Matches upstream avoid_ros_namespace_conventions. 0 = false, non-zero = true. (uint8_t instead of bool; sizeof(_Bool) is impl- defined per C99 — uint8_t keeps the layout stable across toolchains.)

◆ deadline_ms

uint32_t rmw_qos_profile_t::deadline_ms

Subscription: max acceptable inter-arrival time, ms. Publisher: max acceptable inter-publish (offered rate), ms. 0 = infinite (no deadline).

◆ depth

uint16_t rmw_qos_profile_t::depth

◆ durability

uint8_t rmw_qos_profile_t::durability

See also: NROS_RMW_DURABILITY_*

◆ history

uint8_t rmw_qos_profile_t::history

See also: NROS_RMW_HISTORY_*

◆ lifespan_ms

uint32_t rmw_qos_profile_t::lifespan_ms

Sample expiry, ms. Subscription filters samples older than this. 0 = infinite (no expiry).

◆ liveliness_kind

uint8_t rmw_qos_profile_t::liveliness_kind

See also: rmw_liveliness_kind_t

◆ liveliness_lease_ms

uint32_t rmw_qos_profile_t::liveliness_lease_ms

Liveliness lease, ms. Publisher must assert liveliness within this window or be considered dead. 0 = infinite.

◆ reliability

uint8_t rmw_qos_profile_t::reliability

See also: NROS_RMW_RELIABILITY_*

The documentation for this struct was generated from the following file:

include/nros/rmw_entity.h

Data Fields