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pcl_ros: enable QoS overrides for lazy input and ouput #519

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e3ff391
pcl_ros: enable QoS overrides for lazy input and ouput
Feb 10, 2026
88c0c29
pcl_ros: apply QoS overrides to filters and tools
Feb 11, 2026
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26 changes: 23 additions & 3 deletions pcl_ros/src/pcl_ros/filters/filter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@

#include "pcl_ros/filters/filter.hpp"
#include <pcl/common/io.h>
#include <rclcpp/qos_overriding_options.hpp>
#include "pcl_ros/transforms.hpp"

/*//#include <pcl/filters/pixel_grid.h>
Expand Down Expand Up @@ -120,13 +121,23 @@ pcl_ros::Filter::computePublish(
void
pcl_ros::Filter::subscribe()
{
// Enable QoS reconfigurability via parameters
rclcpp::SubscriptionOptions sub_options;
sub_options.qos_overriding_options =
rclcpp::QosOverridingOptions {{
rclcpp::QosPolicyKind::History,
rclcpp::QosPolicyKind::Reliability,
rclcpp::QosPolicyKind::Durability,
rclcpp::QosPolicyKind::Depth
}};

// If we're supposed to look for PointIndices (indices)
if (use_indices_) {
// Subscribe to the input using a filter
auto sensor_qos_profile =
rclcpp::SensorDataQoS().keep_last(max_queue_size_).get_rmw_qos_profile();
sub_input_filter_.subscribe(this, "input", sensor_qos_profile);
sub_indices_filter_.subscribe(this, "indices", sensor_qos_profile);
sub_input_filter_.subscribe(this, "input", sensor_qos_profile, sub_options);
sub_indices_filter_.subscribe(this, "indices", sensor_qos_profile, sub_options);

if (approximate_sync_) {
sync_input_indices_a_ =
Expand Down Expand Up @@ -156,7 +167,7 @@ pcl_ros::Filter::subscribe()
sub_input_ =
this->create_subscription<PointCloud2>(
"input", rclcpp::SensorDataQoS().keep_last(max_queue_size_),
callback);
callback, sub_options);
}
}

Expand Down Expand Up @@ -199,6 +210,15 @@ pcl_ros::Filter::createPublishers()
}
}
};

// Enable QoS reconfigurability via parameters
pub_options.qos_overriding_options =
rclcpp::QosOverridingOptions {{
rclcpp::QosPolicyKind::History,
rclcpp::QosPolicyKind::Reliability,
rclcpp::QosPolicyKind::Durability,
rclcpp::QosPolicyKind::Depth
}};
pub_output_ = create_publisher<PointCloud2>("output", max_queue_size_, pub_options);
}

Expand Down
28 changes: 24 additions & 4 deletions pcl_ros/src/pcl_ros/filters/project_inliers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,7 @@
*/

#include "pcl_ros/filters/project_inliers.hpp"
#include <rclcpp/qos_overriding_options.hpp>

//////////////////////////////////////////////////////////////////////////////////////////////
pcl_ros::ProjectInliers::ProjectInliers(const rclcpp::NodeOptions & options)
Expand All @@ -60,7 +61,16 @@ pcl_ros::ProjectInliers::ProjectInliers(const rclcpp::NodeOptions & options)
declare_parameter("copy_all_fields", rclcpp::ParameterValue(true));
bool copy_all_fields = get_parameter("copy_all_fields").as_bool();

pub_output_ = create_publisher<PointCloud2>("output", max_queue_size_);
// Enable QoS reconfigurability via parameters
auto pub_options = rclcpp::PublisherOptions();
pub_options.qos_overriding_options =
rclcpp::QosOverridingOptions {{
rclcpp::QosPolicyKind::History,
rclcpp::QosPolicyKind::Reliability,
rclcpp::QosPolicyKind::Durability,
rclcpp::QosPolicyKind::Depth
}};
pub_output_ = create_publisher<PointCloud2>("output", max_queue_size_, pub_options);

RCLCPP_DEBUG(
this->get_logger(),
Expand Down Expand Up @@ -105,15 +115,25 @@ pcl_ros::ProjectInliers::subscribe()
if (use_indices_)
{*/

// Enable QoS reconfigurability via parameters
rclcpp::SubscriptionOptions sub_options;
sub_options.qos_overriding_options =
rclcpp::QosOverridingOptions {{
rclcpp::QosPolicyKind::History,
rclcpp::QosPolicyKind::Reliability,
rclcpp::QosPolicyKind::Durability,
rclcpp::QosPolicyKind::Depth
}};

auto qos_profile = rclcpp::QoS(
rclcpp::KeepLast(max_queue_size_),
rmw_qos_profile_default).get_rmw_qos_profile();
auto sensor_qos_profile = rclcpp::QoS(
rclcpp::KeepLast(max_queue_size_),
rmw_qos_profile_sensor_data).get_rmw_qos_profile();
sub_input_filter_.subscribe(this, "input", sensor_qos_profile);
sub_indices_filter_.subscribe(this, "indices", qos_profile);
sub_model_.subscribe(this, "model", qos_profile);
sub_input_filter_.subscribe(this, "input", sensor_qos_profile, sub_options);
sub_indices_filter_.subscribe(this, "indices", qos_profile, sub_options);
sub_model_.subscribe(this, "model", qos_profile, sub_options);

if (approximate_sync_) {
sync_input_indices_model_a_ = std::make_shared<
Expand Down
12 changes: 11 additions & 1 deletion pcl_ros/tools/pcd_to_pointcloud.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,7 @@
#include <thread>

#include <rclcpp/rclcpp.hpp>
#include <rclcpp/qos_overriding_options.hpp>
#include "rclcpp_components/register_node_macro.hpp"
#include <sensor_msgs/msg/point_cloud2.hpp>

Expand Down Expand Up @@ -95,7 +96,16 @@ class PCDPublisher : public rclcpp::Node
auto resolved_cloud_topic =
this->get_node_topics_interface()->resolve_topic_name(cloud_topic_);

pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>(cloud_topic_, 10);
// Enable QoS reconfigurability via parameters
auto pub_options = rclcpp::PublisherOptions();
pub_options.qos_overriding_options =
rclcpp::QosOverridingOptions {{
rclcpp::QosPolicyKind::History,
rclcpp::QosPolicyKind::Reliability,
rclcpp::QosPolicyKind::Durability,
rclcpp::QosPolicyKind::Depth
}};
pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>(cloud_topic_, 10, pub_options);
timer_ = this->create_wall_timer(
std::chrono::milliseconds(period_ms_),
[this]() {
Expand Down
13 changes: 12 additions & 1 deletion pcl_ros/tools/pointcloud_to_pcd.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,7 @@ Cloud Data) file format.
#include <tf2_ros/transform_listener.h>

#include <rclcpp/rclcpp.hpp>
#include <rclcpp/qos_overriding_options.hpp>
#include <rclcpp_components/register_node_macro.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <tf2_eigen/tf2_eigen.hpp>
Expand Down Expand Up @@ -189,10 +190,20 @@ class PointCloudToPCD : public rclcpp::Node
this->get_parameter("compressed", compressed_);
this->get_parameter("rgb", rgb_);

// Enable QoS reconfigurability via parameters
rclcpp::SubscriptionOptions sub_options;
sub_options.qos_overriding_options =
rclcpp::QosOverridingOptions {{
rclcpp::QosPolicyKind::History,
rclcpp::QosPolicyKind::Reliability,
rclcpp::QosPolicyKind::Durability,
rclcpp::QosPolicyKind::Depth
}};

auto sensor_qos = rclcpp::SensorDataQoS();
sub_ = this->create_subscription<sensor_msgs::msg::PointCloud2>(
"input", sensor_qos,
std::bind(&PointCloudToPCD::cloud_cb, this, std::placeholders::_1));
std::bind(&PointCloudToPCD::cloud_cb, this, std::placeholders::_1), sub_options);
}
};
} // namespace pcl_ros
Expand Down
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