From 570bbb8aa9798baf644009fb69f50829eb99478f Mon Sep 17 00:00:00 2001
From: Andy McEvoy <mcevoy.andy@gmail.com>
Date: Fri, 6 Jan 2023 06:41:45 -0600
Subject: [PATCH] Fix QoS deprecation warnings (#879)
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Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
Co-authored-by: Denis Štogl <denis@stoglrobotics.de>
---
 controller_manager/src/controller_manager.cpp | 46 ++++++++-----------
 1 file changed, 20 insertions(+), 26 deletions(-)

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index 1e226b97ad..8ce3be22a6 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -36,16 +36,10 @@ static constexpr const char * kChainableControllerInterfaceClassName =
   "controller_interface::ChainableControllerInterface";
 
 // Changed services history QoS to keep all so we don't lose any client service calls
-static const rmw_qos_profile_t rmw_qos_profile_services_hist_keep_all = {
-  RMW_QOS_POLICY_HISTORY_KEEP_ALL,
-  1,  // message queue depth
-  RMW_QOS_POLICY_RELIABILITY_RELIABLE,
-  RMW_QOS_POLICY_DURABILITY_VOLATILE,
-  RMW_QOS_DEADLINE_DEFAULT,
-  RMW_QOS_LIFESPAN_DEFAULT,
-  RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
-  RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
-  false};
+rclcpp::QoS qos_services =
+  rclcpp::QoS(rclcpp::QoSInitialization(RMW_QOS_POLICY_HISTORY_KEEP_ALL, 1))
+    .reliable()
+    .durability_volatile();
 
 inline bool is_controller_inactive(const controller_interface::ControllerInterfaceBase & controller)
 {
@@ -234,47 +228,47 @@ void ControllerManager::init_services()
   using namespace std::placeholders;
   list_controllers_service_ = create_service<controller_manager_msgs::srv::ListControllers>(
     "~/list_controllers", std::bind(&ControllerManager::list_controllers_srv_cb, this, _1, _2),
-    rmw_qos_profile_services_hist_keep_all, best_effort_callback_group_);
+    qos_services, best_effort_callback_group_);
   list_controller_types_service_ =
     create_service<controller_manager_msgs::srv::ListControllerTypes>(
       "~/list_controller_types",
-      std::bind(&ControllerManager::list_controller_types_srv_cb, this, _1, _2),
-      rmw_qos_profile_services_hist_keep_all, best_effort_callback_group_);
+      std::bind(&ControllerManager::list_controller_types_srv_cb, this, _1, _2), qos_services,
+      best_effort_callback_group_);
   load_controller_service_ = create_service<controller_manager_msgs::srv::LoadController>(
     "~/load_controller", std::bind(&ControllerManager::load_controller_service_cb, this, _1, _2),
-    rmw_qos_profile_services_hist_keep_all, best_effort_callback_group_);
+    qos_services, best_effort_callback_group_);
   configure_controller_service_ = create_service<controller_manager_msgs::srv::ConfigureController>(
     "~/configure_controller",
-    std::bind(&ControllerManager::configure_controller_service_cb, this, _1, _2),
-    rmw_qos_profile_services_hist_keep_all, best_effort_callback_group_);
+    std::bind(&ControllerManager::configure_controller_service_cb, this, _1, _2), qos_services,
+    best_effort_callback_group_);
   reload_controller_libraries_service_ =
     create_service<controller_manager_msgs::srv::ReloadControllerLibraries>(
       "~/reload_controller_libraries",
       std::bind(&ControllerManager::reload_controller_libraries_service_cb, this, _1, _2),
-      rmw_qos_profile_services_hist_keep_all, best_effort_callback_group_);
+      qos_services, best_effort_callback_group_);
   switch_controller_service_ = create_service<controller_manager_msgs::srv::SwitchController>(
     "~/switch_controller",
-    std::bind(&ControllerManager::switch_controller_service_cb, this, _1, _2),
-    rmw_qos_profile_services_hist_keep_all, best_effort_callback_group_);
+    std::bind(&ControllerManager::switch_controller_service_cb, this, _1, _2), qos_services,
+    best_effort_callback_group_);
   unload_controller_service_ = create_service<controller_manager_msgs::srv::UnloadController>(
     "~/unload_controller",
-    std::bind(&ControllerManager::unload_controller_service_cb, this, _1, _2),
-    rmw_qos_profile_services_hist_keep_all, best_effort_callback_group_);
+    std::bind(&ControllerManager::unload_controller_service_cb, this, _1, _2), qos_services,
+    best_effort_callback_group_);
   list_hardware_components_service_ =
     create_service<controller_manager_msgs::srv::ListHardwareComponents>(
       "~/list_hardware_components",
-      std::bind(&ControllerManager::list_hardware_components_srv_cb, this, _1, _2),
-      rmw_qos_profile_services_hist_keep_all, best_effort_callback_group_);
+      std::bind(&ControllerManager::list_hardware_components_srv_cb, this, _1, _2), qos_services,
+      best_effort_callback_group_);
   list_hardware_interfaces_service_ =
     create_service<controller_manager_msgs::srv::ListHardwareInterfaces>(
       "~/list_hardware_interfaces",
-      std::bind(&ControllerManager::list_hardware_interfaces_srv_cb, this, _1, _2),
-      rmw_qos_profile_services_hist_keep_all, best_effort_callback_group_);
+      std::bind(&ControllerManager::list_hardware_interfaces_srv_cb, this, _1, _2), qos_services,
+      best_effort_callback_group_);
   set_hardware_component_state_service_ =
     create_service<controller_manager_msgs::srv::SetHardwareComponentState>(
       "~/set_hardware_component_state",
       std::bind(&ControllerManager::set_hardware_component_state_srv_cb, this, _1, _2),
-      rmw_qos_profile_services_hist_keep_all, best_effort_callback_group_);
+      qos_services, best_effort_callback_group_);
 }
 
 controller_interface::ControllerInterfaceBaseSharedPtr ControllerManager::load_controller(