Add QoS configuration to RosNodeParams

[rafal-gorecki]

I really like this pkg and the way it was created. Bravo to the authors!

The only thing missing is the ability to set QoS for topics.
By the way, I also added the ability to change the qos_profile for services.

I found other solutions with similar themes, which may be updated if this PR passes:

• Allow override of QoS for RosTopicSubNode and RosTopicPubNode #14
• Make RosTopicSubNode a StatefulActionNode and handle different reliability QoS configurations #95

[rafal-gorecki]

Hello @tony-p@facontidavide,
Can I ask one of u guys for review?

[tony-p]

I'm not a maintainer so can't push this further. My first thought was why not define the qos in the node implementation as it will typically be constant for a particular message type, but on reflection I think adding to the params probably does make more sense.

[rafal-gorecki]

Hi @facontidavide,
I see that you made the last change in this repo. Is it possible for you to check these changes?

[EricDavidWells]

@rafal-gorecki Would love to get this merged, there is a small fix here to merge into this branch: https://github.com/rafal-gorecki/BehaviorTree.ROS2/pull/1/files.

[rafal-gorecki]

I merge it, thanks @EricDavidWells

[shannonwarren]

any update on this? I'd like to set QoS in the node params instead of forking my own branch with this change.

[delihus]

@facontidavide Is it possible to add thess changes to the upstream?