Use ignoreLocalMessages in the bridge (gazebosim#559)

* Ignore local messages Signed-off-by: Carlos Agüero <[email protected]>
Amronos · Sep 18, 2024 · bee1ee5 · bee1ee5
1 parent 17a1469
commit bee1ee5
Showing 1 changed file with 8 additions and 9 deletions.
diff --git a/ros_gz_bridge/src/factory.hpp b/ros_gz_bridge/src/factory.hpp
@@ -22,6 +22,7 @@
 #include <type_traits>
 
 #include <gz/transport/Node.hh>
+#include <gz/transport/SubscribeOptions.hh>
 
 // include ROS 2
 #include <rclcpp/rclcpp.hpp>
@@ -118,18 +119,16 @@ class Factory : public FactoryInterface
     rclcpp::PublisherBase::SharedPtr ros_pub,
     bool override_timestamps_with_wall_time)
   {
-    std::function<void(const GZ_T &,
-      const gz::transport::MessageInfo &)> subCb =
-      [this, ros_pub, override_timestamps_with_wall_time](const GZ_T & _msg,
-      const gz::transport::MessageInfo & _info)
+    std::function<void(const GZ_T &)> subCb =
+      [this, ros_pub, override_timestamps_with_wall_time](const GZ_T & _msg)
       {
-        // Ignore messages that are published from this bridge.
-        if (!_info.IntraProcess()) {
-          this->gz_callback(_msg, ros_pub, override_timestamps_with_wall_time);
-        }
+        this->gz_callback(_msg, ros_pub, override_timestamps_with_wall_time);
       };
 
-    node->Subscribe(topic_name, subCb);
+    // Ignore messages that are published from this bridge.
+    gz::transport::SubscribeOptions opts;
+    opts.SetIgnoreLocalMessages(true);
+    node->Subscribe(topic_name, subCb, opts);
   }
 
 protected: