From a47cd2c4121247531defc1c29353bcd00d6841b9 Mon Sep 17 00:00:00 2001 From: Erik Boasson Date: Fri, 16 Aug 2019 15:12:54 +0200 Subject: [PATCH] Create topics in the right node's participant Signed-off-by: Erik Boasson --- rmw_cyclonedds_cpp/src/rmw_node.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/rmw_cyclonedds_cpp/src/rmw_node.cpp b/rmw_cyclonedds_cpp/src/rmw_node.cpp index dc9964b..a34c1ec 100644 --- a/rmw_cyclonedds_cpp/src/rmw_node.cpp +++ b/rmw_cyclonedds_cpp/src/rmw_node.cpp @@ -785,7 +785,7 @@ static CddsPublisher *create_cdds_publisher (const rmw_node_t *node, const rosid std::string fqtopic_name = make_fqtopic (ros_topic_prefix, topic_name, "", qos_policies); auto sertopic = create_sertopic (fqtopic_name.c_str (), type_support->typesupport_identifier, create_message_type_support (type_support->data, type_support->typesupport_identifier), false); - if ((topic = dds_create_topic_arbitrary (gcdds.ppant, sertopic, nullptr, nullptr, nullptr)) < 0) { + if ((topic = dds_create_topic_arbitrary (node_impl->pp, sertopic, nullptr, nullptr, nullptr)) < 0) { RMW_SET_ERROR_MSG ("failed to create topic"); goto fail_topic; } @@ -957,7 +957,7 @@ static CddsSubscription *create_cdds_subscription (const rmw_node_t *node, const std::string fqtopic_name = make_fqtopic (ros_topic_prefix, topic_name, "", qos_policies); auto sertopic = create_sertopic (fqtopic_name.c_str (), type_support->typesupport_identifier, create_message_type_support (type_support->data, type_support->typesupport_identifier), false); - if ((topic = dds_create_topic_arbitrary (gcdds.ppant, sertopic, nullptr, nullptr, nullptr)) < 0) { + if ((topic = dds_create_topic_arbitrary (node_impl->pp, sertopic, nullptr, nullptr, nullptr)) < 0) { RMW_SET_ERROR_MSG ("failed to create topic"); goto fail_topic; } @@ -1535,11 +1535,11 @@ static rmw_ret_t rmw_init_cs (CddsCS *cs, const rmw_node_t *node, const rosidl_s auto sub_st = create_sertopic (subtopic_name.c_str (), type_support->typesupport_identifier, sub_type_support, true); dds_qos_t *qos; - if ((pubtopic = dds_create_topic_arbitrary (gcdds.ppant, pub_st, nullptr, nullptr, nullptr)) < 0) { + if ((pubtopic = dds_create_topic_arbitrary (node_impl->pp, pub_st, nullptr, nullptr, nullptr)) < 0) { RMW_SET_ERROR_MSG ("failed to create topic"); goto fail_pubtopic; } - if ((subtopic = dds_create_topic_arbitrary (gcdds.ppant, sub_st, nullptr, nullptr, nullptr)) < 0) { + if ((subtopic = dds_create_topic_arbitrary (node_impl->pp, sub_st, nullptr, nullptr, nullptr)) < 0) { RMW_SET_ERROR_MSG ("failed to create topic"); goto fail_subtopic; }