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Use ignoreLocalMessages in the bridge #559

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merged 5 commits into from
Jun 7, 2024
Merged

Use ignoreLocalMessages in the bridge #559

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Ignore local messages
caguero Jun 5, 2024
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Include
caguero Jun 5, 2024
ca89a31
Tweak
caguero Jun 5, 2024
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caguero Jun 5, 2024
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caguero Jun 5, 2024
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16 changes: 8 additions & 8 deletions ros_gz_bridge/src/factory.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
#include <string>

#include <gz/transport/Node.hh>
#include <gz/transport/SubscribeOptions.hh>

// include ROS 2
#include <rclcpp/rclcpp.hpp>
Expand Down Expand Up @@ -105,17 +106,16 @@ class Factory : public FactoryInterface
size_t /*queue_size*/,
rclcpp::PublisherBase::SharedPtr ros_pub)
{
std::function<void(const GZ_T &,
const gz::transport::MessageInfo &)> subCb =
[this, ros_pub](const GZ_T & _msg, const gz::transport::MessageInfo & _info)
std::function<void(const GZ_T &)> subCb =
[this, ros_pub](const GZ_T & _msg)
{
// Ignore messages that are published from this bridge.
if (!_info.IntraProcess()) {
this->gz_callback(_msg, ros_pub);
}
this->gz_callback(_msg, ros_pub);
};

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:
Expand Down