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fix build by passing options #192

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merged 1 commit into from
May 9, 2019
Merged

fix build by passing options #192

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4 changes: 3 additions & 1 deletion include/ros1_bridge/factory.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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4 changes: 3 additions & 1 deletion src/simple_bridge.cpp
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Expand Up @@ -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);
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