Add queue size parameter for remote and local topics

README.md

@@ -39,6 +39,9 @@ parameter_polling_hz: 1
 
 **Note**: Don't add to remote or local topics the topic `/rosout`.
 
+# Additional Parameters in this fork
+For `remote_topics` and `local_topics`, there are two additional parameters you can provide after the topic name, message type, and alias name. You can also provide a boolean which represents whether the topic should latch, and also a queue_size, which defines the size of the message queue. These should be specified in the order `[<topic name>, <message type>, <alias name>, <latch>, <queue size>]`.
+
 # Example usage with Docker
 This tool came to be mainly to solve a problem with Docker containers. If you are running the Docker container that wants bidirectional communication with a ROS robot, and you are using Linux you can just add `--net host` to your `docker run` command (just after run). But if you are using a Mac [this won't work](https://github.com/docker/for-mac/issues/68). To work around it you can use this package.
 

src/rosduct/rosduct_impl.py

@@ -119,35 +119,48 @@ def initialize(self):
                 topic_name, topic_type = r_t
                 local_name = topic_name
                 latch = False
+                queue_size = 1
             elif len(r_t) == 3:
                 topic_name, topic_type, local_name = r_t
                 latch = False
+                queue_size = 1
             elif len(r_t) == 4:
                 topic_name, topic_type, local_name, latch = r_t
+                queue_size = 1
+            elif len(r_t) == 5:
+                topic_name, topic_type, local_name, latch, queue_size = r_t
+
 
             msg = ROSDuctConnection()
             msg.conn_name = topic_name
             msg.conn_type = topic_type
             msg.alias_name = local_name
             msg.latch = latch if latch.__class__==bool else latch.lower() == 'true'
+            msg.queue_size = queue_size if queue_size.__class__==int else 1
             self.add_remote_topic(msg)
 
         for l_t in self.local_topics:
             if len(l_t) == 2:
                 topic_name, topic_type = l_t
                 remote_name = topic_name
                 latch = False
+                queue_size = 1
             elif len(l_t) == 3:
                 topic_name, topic_type, remote_name = l_t
                 latch = False
+                queue_size = 1
             elif len(l_t) == 4:
                 topic_name, topic_type, remote_name, latch = l_t
+                queue_size = 1
+            elif len(l_t) == 5:
+                topic_name, topic_type, remote_name, latch, queue_size = l_t
 
             msg = ROSDuctConnection()
             msg.conn_name = topic_name
             msg.conn_type = topic_type
             msg.alias_name = remote_name
             msg.latch = latch if latch.__class__==bool else latch.lower() == 'true'
+            msg.queue_size = queue_size if queue_size.__class__==int else 1
             self.add_local_topic(msg)
 
         # Services
@@ -188,7 +201,8 @@ def initialize(self):
     def add_local_topic(self, msg):
         bridgepub = self.client.publisher(msg.alias_name,
                                           msg.conn_type,
-                                          latch=msg.latch)
+                                          latch=msg.latch,
+                                          queue_size=msg.queue_size)
 
         cb_l_to_r = self.create_callback_from_local_to_remote(msg.conn_name,
                                                               msg.conn_type,
@@ -217,7 +231,7 @@ def add_remote_topic(self, msg):
         rospub = rospy.Publisher(msg.alias_name,
                                  get_ROS_class(msg.conn_type),
                                  # SubscribeListener added later
-                                 queue_size=1,
+                                 queue_size=msg.queue_size,
                                  latch=msg.latch)
 
         cb_r_to_l = self.create_callback_from_remote_to_local(msg.conn_name,

srv/ROSDuctConnection.srv

@@ -2,4 +2,5 @@ string conn_name
 string conn_type
 string alias_name
 bool latch
+uint32 queue_size 
 ---