fix bidirectional bridge looping over the messages with fastdds #79
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AdamGoertz
reviewed
May 6, 2024
| bool has_publisher_with_gid(const rmw_gid_t & _publisher_gid) | ||
| { | ||
| for (auto it = bridged_topics_.begin(); it != bridged_topics_.end(); ++it) { | ||
| if (*it->second.first->get_base_publisher() == _publisher_gid) { |
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Thanks for looking into this, we were having problems with this issue and this PR helped us. I noticed one issue when we tried using this; we got a segmentation fault on this line. I haven't looked into the root cause, but adding this patch fixed the issue.
Suggested change
| if (*it->second.first->get_base_publisher() == _publisher_gid) { | |
| if (it->second.first && *it->second.first->get_base_publisher() == _publisher_gid) { |
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When using fastdds (default in humble), and using a bidirectional topic bridge, the same message keep been sent over and over. This is because the behavior of
ignore_local_publicationsis different between fastdds and cyclonedds, this is was reported tormw_fastrtpsin ros2/rmw_fastrtps#573. To fix this problem, I made a change in domain_bridge to make sure that the message we receive from a subscriber do not come from a publisher owned by the bridge. This fix the problem of sending the same message over and over.