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🟡 Changes recommended
The newly exported RosbridgeQosProfile references RosbridgeDuration without exposing it through the public entry point, triggering TypeDoc warnings that fail the docs CI job.
1 open issue
What changed in this PR
This PR adds QoS profile support to Topic, allowing callers to configure ROS 2 publisher and subscriber behavior through rosbridge.
Changes:
- Accept and forward QoS profiles when advertising and subscribing.
- Add protocol types and publicly export
RosbridgeQosProfile. - Add unit tests and ROS 2 integration examples covering QoS behavior.
| File | Description |
|---|---|
packages/roslib/test/topic.test.ts |
Tests QoS forwarding, omission, publishing, and reconnect behavior. |
packages/roslib/test/examples/pubsub.example.ts |
Adds ROS 2 durability and reliability integration cases. |
packages/roslib/src/types/protocol.ts |
Defines QoS profiles and extends message types. |
packages/roslib/src/RosLib.ts |
Exports the public QoS profile type. |
packages/roslib/src/core/Topic.ts |
Accepts QoS options and forwards them to rosbridge. |
Review effort: Balanced
Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>
EzraBrooks
requested changes
Nov 5, 2026
| * @param [options.queue_size=100] - The queue created at bridge side for re-publishing webtopics. | ||
| * @param [options.latch=false] - Latch the topic when publishing. | ||
| * @param [options.queue_length=0] - The queue length at bridge side used when subscribing. | ||
| * @param [options.qos] - QoS profile for the topic. When provided, `latch` and `queue_size` are ignored. |
Contributor
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Please create a new union type for this options object that makes qos mutually exclusive with latch and queue_size. You should just need to make a base type with two interfaces that extend it, one with
{
qos?: RosBridgeQosProfile;
latch: never;
queue_size: never;
}and one with
{
latch: boolean;
queue_size: number;
qos: never;
}This branch has not been deployed
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Public API Changes
The Topic class now accepts the
qosparamDescription
The QoS support in rosbridge server released back in May so it's safe to assume it's available on every ROS 2 distro