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Co-authored-by: Michel Hidalgo <[email protected]> Signed-off-by: JLBuenoLopez-eProsima <[email protected]>
ros2 · Oct 22, 2020 · 445a526 · 445a526
1 parent 2ece75b
commit 445a526
Showing 1 changed file with 6 additions and 7 deletions.
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp
@@ -130,14 +130,13 @@ class ServicePubListener : public eprosima::fastrtps::PublisherListener
     const eprosima::fastrtps::rtps::GUID_t & guid)
   {
     // Check if the guid is still in the map
-    if (clients_endpoints_.find(guid) != clients_endpoints_.end()) {
-      // Wait for subscription
-      if (!wait_for_subscription(guid, std::chrono::milliseconds(100))) {
-        return client_present_t::MAYBE;
-      }
-    } else {
-      // Client has gone
+    if (clients_endpoints_.find(guid) == clients_endpoints_.end()) {
+      // Client is gone
       return client_present_t::GONE;
+    }  
+    // Wait for subscription
+    if (!wait_for_subscription(guid, std::chrono::milliseconds(100))) {
+      return client_present_t::MAYBE;
     }
     return client_present_t::YES;
   }