Add acceptable_buffer_backends as subscription option in rclpy#1628
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Add acceptable_buffer_backends as subscription option in rclpy#1628
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Signed-off-by: CY Chen <cyc@nvidia.com>
nvcyc
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MiguelCompany,
ahcorde,
hidmic,
karsten-nvidia,
mjcarroll,
skyegalaxy and
tfoote
hidmic
approved these changes
Mar 18, 2026
| raw: bool = False, | ||
| content_filter_options: Optional[ContentFilterOptions] = None | ||
| content_filter_options: Optional[ContentFilterOptions] = None, | ||
| acceptable_buffer_backends: Optional[str] = 'cpu' |
mjcarroll
approved these changes
Mar 18, 2026
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Description
This pull request adds the
acceptable_buffer_backendssubscription option in rclpy, 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:
node.py:create_subscriptionadds a new optional parameteracceptable_buffer_backends: Optional[str] = 'cpu'.subscription.cpp,subscription.hpp: pass the value through tormw_subscription_options.acceptable_buffer_backends.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?
8
No.
Additional Information
This PR is part of the broader ROS 2 native buffer feature introduced in this post.