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[humble] Reduce message spam when topics to be recorded do not exist #1434

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[humble] Reduce message spam when topics to be recorded do not exist #1434

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2 changes: 2 additions & 0 deletions rosbag2_transport/include/rosbag2_transport/recorder.hpp
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Expand Up @@ -38,6 +38,7 @@

#include "rosbag2_transport/record_options.hpp"
#include "rosbag2_transport/visibility_control.hpp"
#include "rosbag2_transport/topic_filter.hpp"

namespace rosbag2_cpp
{
Expand Down Expand Up @@ -156,6 +157,7 @@ class Recorder : public rclcpp::Node

void warn_if_new_qos_for_subscribed_topic(const std::string & topic_name);

std::unique_ptr<TopicFilter> topic_filter_;
std::future<void> discovery_future_;
std::unordered_map<std::string, std::shared_ptr<rclcpp::GenericSubscription>> subscriptions_;
std::unordered_set<std::string> topics_warned_about_incompatibility_;
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0 ...rt/src/rosbag2_transport/topic_filter.hpp → ...nclude/rosbag2_transport/topic_filter.hpp
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2 changes: 1 addition & 1 deletion rosbag2_transport/src/rosbag2_transport/bag_rewrite.cpp
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Expand Up @@ -27,7 +27,7 @@
#include "rosbag2_transport/reader_writer_factory.hpp"

#include "logging.hpp"
#include "topic_filter.hpp"
#include "rosbag2_transport/topic_filter.hpp"

namespace
{
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6 changes: 3 additions & 3 deletions rosbag2_transport/src/rosbag2_transport/recorder.cpp
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Expand Up @@ -35,7 +35,7 @@
#include "rosbag2_storage/yaml.hpp"
#include "rosbag2_transport/qos.hpp"

#include "topic_filter.hpp"
#include "rosbag2_transport/topic_filter.hpp"

namespace rosbag2_transport
{
Expand Down Expand Up @@ -100,6 +100,7 @@ Recorder::Recorder(
[this](KeyboardHandler::KeyCode /*key_code*/,
KeyboardHandler::KeyModifiers /*key_modifiers*/) {this->toggle_paused();},
Recorder::kPauseResumeToggleKey);
topic_filter_ = std::make_unique<TopicFilter>(record_options, this->get_node_graph_interface());
// show instructions
RCLCPP_INFO_STREAM(
get_logger(),
Expand Down Expand Up @@ -313,8 +314,7 @@ std::unordered_map<std::string, std::string>
Recorder::get_requested_or_available_topics()
{
auto all_topics_and_types = this->get_topic_names_and_types();
TopicFilter topic_filter{record_options_, this->get_node_graph_interface()};
return topic_filter.filter_topics(all_topics_and_types);
return topic_filter_->filter_topics(all_topics_and_types);
}

std::unordered_map<std::string, std::string>
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2 changes: 1 addition & 1 deletion rosbag2_transport/src/rosbag2_transport/topic_filter.cpp
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Expand Up @@ -25,7 +25,7 @@
#include "rosbag2_cpp/typesupport_helpers.hpp"

#include "logging.hpp"
#include "topic_filter.hpp"
#include "rosbag2_transport/topic_filter.hpp"

namespace
{
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2 changes: 1 addition & 1 deletion rosbag2_transport/test/rosbag2_transport/test_topic_filter.cpp
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Expand Up @@ -22,7 +22,7 @@
#include <unordered_set>
#include <vector>

#include "./topic_filter.hpp"
#include "rosbag2_transport/topic_filter.hpp"

using namespace ::testing; // NOLINT

Expand Down