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Solved bug with incompatible QoS policies (second try) #278

Merged
merged 2 commits into from
Dec 12, 2023
Merged

Solved bug with incompatible QoS policies (second try) #278

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e080bce
added explicit call to ParameterValue() to avoid clang error
tudoroancea Nov 29, 2023
7940517
added nonempty publisherInfo check in subscriber creation
tudoroancea Nov 30, 2023
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2 changes: 1 addition & 1 deletion ros2_foxglove_bridge/src/parameter_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -94,7 +94,7 @@ static foxglove::Parameter fromRosParam(const rclcpp::Parameter& p) {
} else if (type == rclcpp::ParameterType::PARAMETER_BOOL_ARRAY) {
std::vector<foxglove::ParameterValue> paramVec;
for (const auto value : p.as_bool_array()) {
paramVec.push_back(value);
paramVec.push_back(foxglove::ParameterValue(value));
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This change was already commited in #277, can you remove it from this PR? Not sure why it isn't shown as conflicting.

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I based this branch on the one I created from #277 (to be able to compile the code and test it on my mac), that's why the same commit appears

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Ok, I see

}
return foxglove::Parameter(p.get_name(), paramVec);
} else if (type == rclcpp::ParameterType::PARAMETER_INTEGER_ARRAY) {
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4 changes: 2 additions & 2 deletions ros2_foxglove_bridge/src/ros2_foxglove_bridge.cpp
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Expand Up @@ -495,7 +495,7 @@ void FoxgloveBridge::subscribe(foxglove::ChannelId channelId, ConnectionHandle c
rclcpp::QoS qos{rclcpp::KeepLast(depth)};

// If all endpoints are reliable, ask for reliable
if (reliabilityReliableEndpointsCount == publisherInfo.size()) {
if (!publisherInfo.empty() && reliabilityReliableEndpointsCount == publisherInfo.size()) {
qos.reliable();
} else {
if (reliabilityReliableEndpointsCount > 0) {
Expand All @@ -509,7 +509,7 @@ void FoxgloveBridge::subscribe(foxglove::ChannelId channelId, ConnectionHandle c
}

// If all endpoints are transient_local, ask for transient_local
if (durabilityTransientLocalEndpointsCount == publisherInfo.size()) {
if (!publisherInfo.empty() && durabilityTransientLocalEndpointsCount == publisherInfo.size()) {
qos.transient_local();
} else {
if (durabilityTransientLocalEndpointsCount > 0) {
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