make sensor component msg qos configurable from robot

[yuokamoto]

No description provided.

[Copilot]

Pull Request Overview

This PR makes QoS for sensor component messages configurable from the robot by removing the QoS parameter from several InitalizeWithROS2 function signatures and instead using an internal QoS property.

• Removes the QoS parameter from InitalizeWithROS2 in overlap and pose sensor components.
• Introduces and uses a QoS property in base sensor components and odom publisher for consistent configuration.
• Updates the odom publisher and robot interface to apply the new QoS configuration.

Reviewed Changes

Copilot reviewed 10 out of 10 changed files in this pull request and generated 1 comment.

Show a summary per file

File	Description
Public/Sensors/RRROS2OverlapSensorComponent.h	Removed the QoS parameter from the InitalizeWithROS2 signature.
Public/Sensors/RRROS2BaseSensorComponent.h, .cpp	Added an overload that sets the QoS property and updated initialization calls to use the internal QoS value.
Public/Sensors/RRPoseSensorManager.h, .cpp	Removed the QoS parameter from InitalizeWithROS2 to align with the new configuration mechanism.
Private/Tools/RRROS2OdomPublisher.cpp	Changed the default QoS from KeepLast to SensorData.
Private/Robots/RRRobotROS2Interface.cpp	Updated odom component configuration to use the new QoS property.

Comments suppressed due to low confidence (2)

Source/RapyutaSimulationPlugins/Public/Sensors/RRROS2BaseSensorComponent.h:210

• It is advisable to document the change in behavior for InitalizeWithROS2 overloads, specifically noting that the QoS property now drives publisher initialization rather than a method parameter.

UPROPERTY(EditAnywhere, BlueprintReadWrite) UROS2QoS QoS = UROS2QoS::SensorData;

Source/RapyutaSimulationPlugins/Private/Tools/RRROS2OdomPublisher.cpp:12

• The QoS default change from KeepLast to SensorData may affect odometry message delivery; please verify that this change meets the intended behavior and expected reliability requirements.

QoS = UROS2QoS::SensorData;

[Copilot]

Pull Request Overview

This PR makes sensor component message QoS configurable from the robot by removing the explicit InQoS parameter from sensor initialization functions and instead relying on a dedicated QoS property.

• Removed the InQoS parameter from several InitalizeWithROS2 functions
• Updated default QoS assignments to UROS2QoS::SensorData across sensor and odom components
• Propagated robot-level QoS (OdomQoS) to odom publishers

Reviewed Changes

Copilot reviewed 10 out of 10 changed files in this pull request and generated no comments.

Show a summary per file

File	Description
RRROS2OverlapSensorComponent.h	Removed the InQoS parameter from the InitalizeWithROS2 declaration.
RRROS2BaseSensorComponent.h	Adjusted initializer overloads to use the class-level QoS property.
RRPoseSensorManager.h	Removed the InQoS parameter from the override of InitalizeWithROS2.
RRRobotROS2Interface.h	Added a QoS property (OdomQoS) for configuring odom messages.
RRROS2OdomPublisher.cpp	Changed the default QoS initialization from UROS2QoS::KeepLast to SensorData.
RRROS2OverlapSensorComponent.cpp	Updated the function call to the base class by removing the InQoS parameter.
RRROS2BaseSensorComponent.cpp	Propagated QoS using the member variable and provided an overload accepting InQoS.
RRPoseSensorManager.cpp	Updated the parent initializer call by removing the InQoS parameter.
RRBaseOdomComponent.cpp	Initialized the QoS property with UROS2QoS::SensorData.
RRRobotROS2Interface.cpp	Assigned the robot’s OdomQoS to the odom component’s QoS.