Description

Service (from jazzy) and Action (from kilted) Introspection are supported and can be used by ros2cli such as ros2 service echo <service name> and ros2 action echo <action name> to monitor the service and action communication.
But it does not allow us to configure QoS configuration via command line interfaces.
This can be a problem if introspection is enabled by service and action endpoints with strict QoS configuration.
If this happens, ros2 service echo and ros2 action echo cannot subscribe the internal hidden topics or service events because QoS incompatibility.

Against this limitation, ros2 service echo <service name> and ros2 action echo <action name> should support QoS configuration options to adjust.

Motivation

ros2 service echo <service name> and ros2 action echo <action name> user experience and flexibility to set QoS configuration via CLI. so that user can adjust the QoS configuration for service and action introspection via command line tools.

Design / Implementation Considerations

QoS configuration argument has been integrated to many other (sub)commands. I think this can be straight-forward just to add QoS argument parser to take the QoS configuration from command line.

Additional Information

No response