Emerson Knapp, Nick Burek (Amazon)
In the ROS2 Dashing release, we introduced three new Quality of Service policies to Publishers and Subscriptions in ROS2 - Liveliness, Deadline, and Lifespan. The policies join the existing History, Reliability, and Durability settings. Using these, you gain finer-grained control of the behavior and guarantees of the topics in your robotic application. In this talk, we present the QoS policies, their API and usage, and real world examples of how they can improve confidence in your robot.
Video presented at ROSCon 2019. More details and slides are available at: roscon.ros.org/2019/.