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Create topics in the right node's participant

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Signed-off-by: Erik Boasson <eb@ilities.com>
This commit is contained in:
Erik Boasson 2019-08-16 15:12:54 +02:00 • committed by eboasson
parent f1f1b7bdaf
commit a47cd2c412
1 changed files with 4 additions and 4 deletions
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8
rmw_cyclonedds_cpp/src/rmw_node.cpp
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@ -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); 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); 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"); RMW_SET_ERROR_MSG ("failed to create topic");
goto fail_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); 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); 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"); RMW_SET_ERROR_MSG ("failed to create topic");
goto fail_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); auto sub_st = create_sertopic (subtopic_name.c_str (), type_support->typesupport_identifier, sub_type_support, true);
dds_qos_t *qos; 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"); RMW_SET_ERROR_MSG ("failed to create topic");
goto fail_pubtopic; 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"); RMW_SET_ERROR_MSG ("failed to create topic");
goto fail_subtopic; goto fail_subtopic;
} }