Take all available samples on service/client on_data_available. (#616)

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> (cherry picked from commit e9abdc4)
ros2 · Jun 27, 2022 · d328fd5 · d328fd5
1 parent 3a0db00
commit d328fd5
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp
@@ -96,7 +96,7 @@ class ClientListener : public eprosima::fastdds::dds::DataReaderListener
     data.is_cdr_buffer = true;
     data.data = response.buffer_.get();
     data.impl = nullptr;    // not used when is_cdr_buffer is true
-    if (reader->take_next_sample(&data, &response.sample_info_) == ReturnCode_t::RETCODE_OK) {
+    while (reader->take_next_sample(&data, &response.sample_info_) == ReturnCode_t::RETCODE_OK) {
       if (response.sample_info_.valid_data) {
         response.sample_identity_ = response.sample_info_.related_sample_identity;
 

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
@@ -209,7 +209,7 @@ class ServiceListener : public eprosima::fastdds::dds::DataReaderListener
     data.is_cdr_buffer = true;
     data.data = request.buffer_;
     data.impl = nullptr;    // not used when is_cdr_buffer is true
-    if (reader->take_next_sample(&data, &request.sample_info_) == ReturnCode_t::RETCODE_OK) {
+    while (reader->take_next_sample(&data, &request.sample_info_) == ReturnCode_t::RETCODE_OK) {
       if (request.sample_info_.valid_data) {
         request.sample_identity_ = request.sample_info_.sample_identity;
         // Use response subscriber guid (on related_sample_identity) when present.