fix build by passing options (#192)

Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>
ros2 · May 9, 2019 · 3bc78e8 · 3bc78e8
1 parent 9184ce8
commit 3bc78e8
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/include/ros1_bridge/factory.hpp b/include/ros1_bridge/factory.hpp
@@ -123,8 +123,10 @@ class Factory : public FactoryInterface
       ros1_pub, ros1_type_name_, ros2_type_name_, node->get_logger(), ros2_pub);
     auto rclcpp_qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos));
     rclcpp_qos.get_rmw_qos_profile() = qos;
+    rclcpp::SubscriptionOptions options;
+    options.ignore_local_publications = true;
     return node->create_subscription<ROS2_T>(
-      topic_name, rclcpp_qos, callback, nullptr, true);
+      topic_name, rclcpp_qos, callback, options);
   }
 
   void convert_1_to_2(const void * ros1_msg, void * ros2_msg) override

diff --git a/src/simple_bridge.cpp b/src/simple_bridge.cpp
@@ -89,8 +89,10 @@ int main(int argc, char * argv[])
     "chatter", 10, ros1ChatterCallback);
 
   // ROS 2 subscriber
+  rclcpp::SubscriptionOptions options;
+  options.ignore_local_publications = true;
   auto ros2_sub = ros2_node->create_subscription<std_msgs::msg::String>(
-    "chatter", rclcpp::SensorDataQoS(), ros2ChatterCallback, nullptr, true);
+    "chatter", rclcpp::SensorDataQoS(), ros2ChatterCallback, options);
 
   // ROS 1 asynchronous spinner
   ros::AsyncSpinner async_spinner(1);