move qos_profile_rosout_default to rmw.

Signed-off-by: Tomoya Fujita <[email protected]>

rcl/include/rcl/logging_rosout.h

@@ -28,25 +28,6 @@ extern "C"
 {
 #endif
 
-/// The default qos profile setting for topic /rosout
-/**
- * - depth = 1000
- * - durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL
- * - lifespan = {10, 0}
- */
-static const rmw_qos_profile_t rcl_qos_profile_rosout_default =
-{
-  RMW_QOS_POLICY_HISTORY_KEEP_LAST,
-  1000,
-  RMW_QOS_POLICY_RELIABILITY_RELIABLE,
-  RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
-  RMW_QOS_DEADLINE_DEFAULT,
-  {10, 0},
-  RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
-  RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
-  false
-};
-
 /// Initializes the rcl_logging_rosout features
 /**
  * Calling this will initialize the rcl_logging_rosout features. This function must be called

rcl/src/rcl/node_options.c

@@ -26,6 +26,8 @@ extern "C"
 #include "rcl/error_handling.h"
 #include "rcl/logging_rosout.h"
 
+#include "rmw/qos_profiles.h"
+
 rcl_node_options_t
 rcl_node_get_default_options(void)
 {
@@ -35,7 +37,7 @@ rcl_node_get_default_options(void)
     .use_global_arguments = true,
     .arguments = rcl_get_zero_initialized_arguments(),
     .enable_rosout = true,
-    .rosout_qos = rcl_qos_profile_rosout_default,
+    .rosout_qos = rmw_qos_profile_rosout_default,
   };
   return default_options;
 }

rcl/test/rcl/test_node.cpp

@@ -859,7 +859,7 @@ TEST_F(TestNodeFixture, test_rcl_node_options) {
 
   EXPECT_TRUE(default_options.use_global_arguments);
   EXPECT_TRUE(default_options.enable_rosout);
-  EXPECT_EQ(rcl_qos_profile_rosout_default, default_options.rosout_qos);
+  EXPECT_EQ(rmw_qos_profile_rosout_default, default_options.rosout_qos);
   EXPECT_TRUE(rcutils_allocator_is_valid(&(default_options.allocator)));
 
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_node_options_copy(nullptr, &default_options));