Don't truncate rmw_time_t QoS durations in the override defaults

rclcpp/include/rclcpp/detail/qos_parameters.hpp

@@ -281,10 +281,7 @@ inline
 int64_t
 rmw_duration_to_int64_t(rmw_time_t rmw_duration)
 {
-  return ::rclcpp::Duration(
-    static_cast<int32_t>(rmw_duration.sec),
-    static_cast<uint32_t>(rmw_duration.nsec)
-  ).nanoseconds();
+  return ::rclcpp::Duration::from_rmw_time(rmw_duration).nanoseconds();
 }
 
 /// \internal Throw an exception if `policy_value_stringified` is NULL.

rclcpp/test/rclcpp/test_qos_parameters.cpp

@@ -12,14 +12,18 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <cstdint>
 #include <map>
 #include <memory>
 #include <stdexcept>
 #include <string>
 
 #include "gmock/gmock.h"
 
+#include "rmw/time.h"
+
 #include "rclcpp/detail/qos_parameters.hpp"
+#include "rclcpp/duration.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/node_options.hpp"
@@ -196,6 +200,51 @@ TEST(TestQosParameters, declare_qos_subscription_parameters) {
   rclcpp::shutdown();
 }
 
+TEST(TestQosParameters, declare_infinite_durations) {
+  // RMW_DURATION_INFINITE, and the "best available" deadline and liveliness lease
+  // sentinels, all carry 9223372036 seconds, which does not fit in the int32_t
+  // seconds field of rclcpp::Duration(int32_t, uint32_t).
+  constexpr rmw_time_t infinite = RMW_DURATION_INFINITE;
+  const int64_t infinite_ns = rclcpp::Duration::from_rmw_time(infinite).nanoseconds();
+
+  rclcpp::init(0, nullptr);
+  auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
+
+  rclcpp::QoS qos{rclcpp::KeepLast{10}};
+  qos.deadline(infinite);
+  qos.lifespan(infinite);
+  qos.liveliness_lease_duration(infinite);
+
+  EXPECT_EQ(
+    infinite_ns,
+    rclcpp::detail::get_default_qos_param_value(
+      rclcpp::QosPolicyKind::Deadline, qos).get<int64_t>());
+  EXPECT_EQ(
+    infinite_ns,
+    rclcpp::detail::get_default_qos_param_value(
+      rclcpp::QosPolicyKind::Lifespan, qos).get<int64_t>());
+  EXPECT_EQ(
+    infinite_ns,
+    rclcpp::detail::get_default_qos_param_value(
+      rclcpp::QosPolicyKind::LivelinessLeaseDuration, qos).get<int64_t>());
+
+  // Without a parameter override, declaring the overrides must hand back the profile
+  // it was given.
+  rclcpp::QoS declared = rclcpp::detail::declare_qos_parameters(
+    {rclcpp::QosPolicyKind::Deadline, rclcpp::QosPolicyKind::Lifespan,
+      rclcpp::QosPolicyKind::LivelinessLeaseDuration},
+    node,
+    "/my/fully/qualified/topic_name",
+    qos,
+    rclcpp::detail::PublisherQosParametersTraits{});
+
+  EXPECT_EQ(infinite_ns, declared.deadline().nanoseconds());
+  EXPECT_EQ(infinite_ns, declared.lifespan().nanoseconds());
+  EXPECT_EQ(infinite_ns, declared.liveliness_lease_duration().nanoseconds());
+
+  rclcpp::shutdown();
+}
+
 TEST(TestQosParameters, declare_with_id) {
   rclcpp::init(0, nullptr);
   auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");