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Disable rosout logging for the bridge #197

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merged 2 commits into from
May 18, 2019
Merged

Disable rosout logging for the bridge #197

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4ffa3bf
Disable rosout logging for the dynamic_bridge.
hidmic May 18, 2019
c7c0200
Fix CMake code that registers launch tests.
hidmic May 17, 2019
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7 changes: 4 additions & 3 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -215,10 +215,11 @@ if(TEST_ROS1_BRIDGE)
set(TEST_BRIDGE_DYNAMIC_BRIDGE "$<TARGET_FILE:dynamic_bridge>")
set(TEST_BRIDGE_ROS2_CLIENT "$<TARGET_FILE:test_ros2_client_cpp>")
set(TEST_BRIDGE_ROS2_SERVER "$<TARGET_FILE:test_ros2_server_cpp>")
set(TEST_BRIDGE_RMW ${rmw_implementation})
endif()

macro(targets)
set(TEST_BRIDGE_RMW ${rmw_implementation})

configure_file(
test/test_topics_across_dynamic_bridge.py.in
test_topics_across_dynamic_bridge${target_suffix}.py.genexp
Expand All @@ -231,7 +232,7 @@ macro(targets)
add_launch_test(
"${CMAKE_CURRENT_BINARY_DIR}/test_topics_across_dynamic_bridge${target_suffix}_$<CONFIG>.py"
TARGET test_topics_across_dynamic_bridge${target_suffix}
ENV RMW_IMPLEMENTAION=${rmw_implementaion}
ENV RMW_IMPLEMENTATION=${rmw_implementation}
TIMEOUT 60)

configure_file(
Expand All @@ -246,7 +247,7 @@ macro(targets)
add_launch_test(
"${CMAKE_CURRENT_BINARY_DIR}/test_services_across_dynamic_bridge${target_suffix}_$<CONFIG>.py"
TARGET test_services_across_dynamic_bridge${target_suffix}
ENV RMW_IMPLEMENTAION=${rmw_implementaion}
ENV RMW_IMPLEMENTATION=${rmw_implementation}
TIMEOUT 60)
endmacro()

Expand Down
21 changes: 20 additions & 1 deletion src/dynamic_bridge.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include <cstring>
#include <map>
#include <memory>
#include <set>
Expand All @@ -36,6 +37,8 @@
#include "rclcpp/rclcpp.hpp"
#include "rclcpp/scope_exit.hpp"

#include "rcutils/get_env.h"

#include "ros1_bridge/bridge.hpp"


Expand Down Expand Up @@ -456,7 +459,23 @@ int main(int argc, char * argv[])
}

// ROS 2 node
rclcpp::init(argc, argv);

// TODO(hidmic): remove when Fast-RTPS supports registering multiple
// typesupports for the same topic in the same process.
// See https://github.com/ros2/rmw_fastrtps/issues/265.
std::vector<char *> args(argv, argv + argc);
char log_disable_rosout[] = "__log_disable_rosout:=true";

const char * rmw_implementation = "";
const char * error = rcutils_get_env("RMW_IMPLEMENTATION", &rmw_implementation);
if (NULL != error) {
throw std::runtime_error(error);
}
if (0 == strcmp(rmw_implementation, "") || NULL != strstr(rmw_implementation, "fastrtps")) {
args.push_back(log_disable_rosout);
}
rclcpp::init(args.size(), args.data());

auto ros2_node = rclcpp::Node::make_shared("ros_bridge");

// ROS 1 node
Expand Down