diff --git a/rcl/include/rcl/logging_rosout.h b/rcl/include/rcl/logging_rosout.h index b2c257563..26cd51420 100644 --- a/rcl/include/rcl/logging_rosout.h +++ b/rcl/include/rcl/logging_rosout.h @@ -20,9 +20,12 @@ #include "rcl/allocator.h" #include "rcl/error_handling.h" #include "rcl/node.h" +#include "rcl/macros.h" #include "rcl/types.h" #include "rcl/visibility_control.h" +#include "rmw/qos_profiles.h" + #ifdef __cplusplus extern "C" { @@ -34,6 +37,7 @@ extern "C" * - durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL * - lifespan = {10, 0} */ +RCUTILS_DEPRECATED_WITH_MSG("use rmw_qos_profile_rosout_default instead") static const rmw_qos_profile_t rcl_qos_profile_rosout_default = { RMW_QOS_POLICY_HISTORY_KEEP_LAST, diff --git a/rcl/src/rcl/node_options.c b/rcl/src/rcl/node_options.c index f2a50df62..311824bbf 100644 --- a/rcl/src/rcl/node_options.c +++ b/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; } diff --git a/rcl/test/rcl/test_node.cpp b/rcl/test/rcl/test_node.cpp index 314023287..20adac056 100644 --- a/rcl/test/rcl/test_node.cpp +++ b/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));