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This repository was archived by the owner on May 31, 2025. It is now read-only.
This repository was archived by the owner on May 31, 2025. It is now read-only.

[rosbag] Errors playing bags that contain latched and non-latched publishers of the same topic #1966

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#1991
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[rosbag] Errors playing bags that contain latched and non-latched publishers of the same topic#1966
#1991
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bug
@mikepurvis

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@mikepurvis
mikepurvis
opened on Jun 3, 2020

We're experiencing an issue where we have multiple nodes publishing a topic, and when we go to play it back with rosbag, we get the error message that was introduced in #1544 when latched and unlatched publishers are created within the same process.

I think the fix should be in rosbag— to basically force all instances of a publisher to be latched if any of them are:

ros_comm/tools/rosbag/src/player.cpp

Lines 58 to 73 in 9162b32

bool isLatching(const ConnectionInfo* c)
{
ros::M_string::const_iterator header_iter = c->header->find("latching");
return (header_iter != c->header->end() && header_iter->second == "1");
}
ros::AdvertiseOptions createAdvertiseOptions(const ConnectionInfo* c, uint32_t queue_size, const std::string& prefix) {
ros::AdvertiseOptions opts(prefix + c->topic, queue_size, c->md5sum, c->datatype, c->msg_def);
opts.latch = isLatching(c);
return opts;
}
ros::AdvertiseOptions createAdvertiseOptions(MessageInstance const& m, uint32_t queue_size, const std::string& prefix) {
return ros::AdvertiseOptions(prefix + m.getTopic(), queue_size, m.getMD5Sum(), m.getDataType(), m.getMessageDefinition());
}

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