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Implement SubscriptionOptions::ignore_local_publications #535

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Implement SubscriptionOptions::ignore_local_publications #535

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0f6772f
Implement SubscriptionOptions::ignore_local_publications
jamoralp May 31, 2021
90e1adc
Remove redundant blank line
jamoralp May 31, 2021
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9 changes: 9 additions & 0 deletions rmw_fastrtps_shared_cpp/src/rmw_take.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,15 @@ _take(
data.data = ros_message;
data.impl = info->type_support_impl_;
if (info->subscriber_->takeNextData(&data, &sinfo)) {
if (subscription->options.ignore_local_publications) {
auto sample_writer_guid = sinfo.sample_identity.writer_guid();

if (sample_writer_guid.guidPrefix == info->subscriber_->getGuid().guidPrefix) {
// This is a local publication. Ignore it
return RMW_RET_OK;
}
}

info->listener_->data_taken(info->subscriber_);

if (eprosima::fastrtps::rtps::ALIVE == sinfo.sampleKind) {
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