From bee1ee5033168082b51a557f8820d30beef8480f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org>
Date: Fri, 7 Jun 2024 15:07:15 +0200
Subject: [PATCH] Use `ignoreLocalMessages` in the bridge (#559)
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* Ignore local messages

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
---
 ros_gz_bridge/src/factory.hpp | 17 ++++++++---------
 1 file changed, 8 insertions(+), 9 deletions(-)

diff --git a/ros_gz_bridge/src/factory.hpp b/ros_gz_bridge/src/factory.hpp
index 83e48351..9f32a7a7 100644
--- 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: