Add subscription options to odometry subscriptions (main)

[pele1410]

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	N/A
Primary OS tested on	Ubuntu 22.04 docker container)
Robotic platform tested on	Gazebo simulation
Does this PR contain AI generated software?	No

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Description of contribution in a few bullet points

Added rclcpp::SubscriptionOptions to the odometry topic subscribers to allow qos overrides in the configuration. We run our odometry topics with Unreliable QoS to prevent network issues that are common with high-rate, reliable DDS transmissions. This change allows us to override the Reliable QoS of the odom subscriptions to allow matching.

Description of documentation updates required from your changes

I would expect that this should be documented as a new configuration option, but I'm not entirely sure where that would happen.

Description of how this change was tested

Testing was done against the Jazzy branch with #4961

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Future work that may be required in bullet points

N/A

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[SteveMacenski]

CI failed unusually. I retriggered it to see if that resolves the issue.

In the meantime, please sign off your commits with DCO -- check out the failed DCO job for instructions how

[SteveMacenski]

@pele1410 the same test is failing repeatedly, I think there's a problem here. I just checked our nightly jobs and PRs I merged today and those builds have all passed, so I'm fairly confident this is introducing a subtle bug.

unknown file
C++ exception with description "cannot set or declare a parameter, or change the callback from within set callback" thrown in the test body.

I'm seeing a ticket with this mentioned ros2/rclcpp#2741. It looks like this touches upon a recently reported issue with rclcpp - which you would probably hit eventually with Jazzy as well (good thing we ran this across Nav2's extensive CI 😉 )

[pele1410]

Well that's unfortunate. I can see an easy way around re-creating the OdomSmoother when the odom_duration changes (add a setter). But the odom_topic change is trickier. I could see capturing the QoS Override properties on construction and storing them, then using them to recreate the subscriber in a new method when the odom_topic changes. But that seems bad in that it could mislead users since the qos_overrides wouldn't actually be allowed to be changed.

Or we wait for that issue/PR to be resolved, which I assume is the path forward here.

[SteveMacenski]

I think so, there is a PR open, so hopefully it shouldn’t be too long! I commented in the ticket that we ran into it as well in Nav2, maybe that’ll help push it forward a bit 🙂