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add mechanism to pass rmw impl specific payloads during pub/sub creation (#513)

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* add optional rmw payload to rcl options for pub and sub

Signed-off-by: William Woodall <william@osrfoundation.org>

* move ignore_local_publications into rmw options structure for subs

Signed-off-by: William Woodall <william@osrfoundation.org>
This commit is contained in:
William Woodall 2019-10-08 15:40:33 -07:00 • committed by GitHub
parent 0198ffef71
commit e673988415
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GPG key ID: 4AEE18F83AFDEB23
5 changed files with 15 additions and 13 deletions
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9
rcl_action/src/rcl_action/action_client.c
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@ -110,11 +110,10 @@ rcl_action_get_zero_initialized_client(void)
} \
goto fail; \
} \
rcl_subscription_options_t Type ## _topic_subscription_options = { \
.qos = options->Type ## _topic_qos, \
.ignore_local_publications = false, \
.allocator = allocator \
}; \
rcl_subscription_options_t Type ## _topic_subscription_options = \
rcl_subscription_get_default_options(); \
Type ## _topic_subscription_options.qos = options->Type ## _topic_qos; \
Type ## _topic_subscription_options.allocator = allocator; \
action_client->impl->Type ## _subscription = rcl_get_zero_initialized_subscription(); \
ret = rcl_subscription_init( \
&action_client->impl->Type ## _subscription, \