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:

• https://github.com/BehaviorTree/BehaviorTree.ROS2/issues/14
• https://github.com/BehaviorTree/BehaviorTree.ROS2/pull/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