Add acceptable_buffer_backends field in SubscriptionOptionsBase#3098
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Add acceptable_buffer_backends field in SubscriptionOptionsBase#3098
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Signed-off-by: CY Chen <cyc@nvidia.com>
nvcyc
requested review from
MiguelCompany,
ahcorde,
hidmic,
karsten-nvidia,
mjcarroll,
skyegalaxy and
tfoote
hidmic
reviewed
Mar 18, 2026
Comment on lines
+157
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+160
| if (!acceptable_buffer_backends.empty()) { | ||
| result.rmw_subscription_options.acceptable_buffer_backends = | ||
| acceptable_buffer_backends.c_str(); | ||
| } |
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@nvcyc hmm, this implicitly ties the lifetimes of both rclcpp and rcl options. If the rclcpp object is destroyed before the rcl struct is used, we'll get a SEGFAULT. Note how content filtering options are allocated and managed by rcl.
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Agree, I think that we need to allocate a new string and copy over here. Look at rcl_subscription_options_set_content_filter_options for a reference.
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| template<typename AllocatorT> | ||
| static rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> | ||
| force_cpu_buffer_backend_( |
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Description
This pull request adds the
acceptable_buffer_backendssubscription option in rclcpp, which corresponds to the subscription field with the same name introduced in rmw in ros2/rmw#416. This option allows subscribers to control which buffer backends they accept, with a backward-compatible default of CPU-only.This pull request consists of the following key changes:
rclcpp(subscription_options.hpp):SubscriptionOptionsBaseaddsacceptable_buffer_backends(std::string, default"cpu").to_rcl_subscription_options()copies it intormw_subscription_options.acceptable_buffer_backendswhen non-empty.generic_subscription.hpp): Constructor forcesacceptable_buffer_backendsto"cpu"ensuring serialized messages received by generic subscriptions are always CPU-based, which will be used by ros2 bag record for direct storage in bag files.Is this user-facing behavior change?
The default value
"cpu"preserves existing behavior -- subscriptions only accept CPU-backed data unless explicitly opting in. This is a new API surface but is additive and backward-compatible. Existing code that does not passacceptable_buffer_backendswill behave identically to before.Did you use Generative AI?
No.
Additional Information
This PR is part of the broader ROS 2 native buffer feature introduced in this post.
It depends on the subscription field with the same name introduced in rmw in ros2/rmw#416.