Duplicate messages in bidirectional_bridge fix #113
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@wjwwood It now passes all tests. |
include/ros1_bridge/factory.hpp
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| if (result) { // message GID equals to bridge's ROS2 publisher GID | ||
| return; // do not publish messages from bridge itself | ||
| } | ||
| } |
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The else case should be handled here. If rmw_compare_gids_equal fails, then we should probably raise an exception or at least log an error message to the console using RCLCPP_ERROR logging macro.
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You can get the underlying error message with rmw_get_error_string_safe(), and after getting it you should clear the error state with rmw_reset_error().
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Ok, I have found similar code on different repo. Added.
Yes, I have tested it by starting two nodes publishing on one topic. After including the fix the duplicates went away. I have started ROS2 node on the same topic and it also bridged perfectly. |
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CI:
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Actually since this is only in the |
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@ArkadiuszNiemiec looks like the linters are still unhappy about some trailing whitespace or something. Can you check |
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@wjwwood Fixed, empty line was not empty 😄 |
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Thanks, new CI:
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Thanks @ArkadiuszNiemiec! |
Issue mentioned in #43 and #111, solution based on discussion in #43. Branched from ardent as I am not able to build master on my system.
Tested by using parameter_bridge and multiple ROS1 and ROS2 publishers and subscribers on the same topic.
Thank you @wjwwood for your help!
This PR is copy of broken PR #112. Sorry for the inconvenience.