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[ros2] Fix message duplication caused by bidirectional bridge (not for all rmw implementations) #146

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Apr 5, 2021
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[ros2] Fix message duplication caused by bidirectional bridge (not for all rmw implementations) #146

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8 changes: 6 additions & 2 deletions ros_ign_bridge/src/factory.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@

// include ROS 2
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/subscription_options.hpp>

#include <functional>
#include <memory>
Expand Down Expand Up @@ -71,9 +72,12 @@ class Factory : public FactoryInterface
std::placeholders::_1, ign_pub,
ros_type_name_, ign_type_name_,
ros_node);
// Ignore messages that are published from this bridge.
auto options = rclcpp::SubscriptionOptions();
options.ignore_local_publications = true;
std::shared_ptr<rclcpp::Subscription<ROS_T>> subscription =
ros_node->create_subscription<ROS_T>(
topic_name, rclcpp::QoS(rclcpp::KeepLast(queue_size)), fn);
topic_name, rclcpp::QoS(rclcpp::KeepLast(queue_size)), fn, options);
return subscription;
}

Expand Down Expand Up @@ -112,7 +116,7 @@ class Factory : public FactoryInterface
ign_pub.Publish(ign_msg);
RCLCPP_INFO_ONCE(
ros_node->get_logger(),
"Passing message from ROS %s to Ignition %s (showing msg only once per type",
"Passing message from ROS %s to Ignition %s (showing msg only once per type)",
ros_type_name.c_str(), ign_type_name.c_str());
}

Expand Down