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Fix issue #31: parameter bridge echoing back #33

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merged 1 commit into from
Aug 2, 2019
Merged

Fix issue #31: parameter bridge echoing back #33

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10 changes: 7 additions & 3 deletions ros1_ign_bridge/include/ros1_ign_bridge/factory.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,10 +89,14 @@ class Factory : public FactoryInterface
ros::Publisher ros1_pub)
{

std::function<void(const IGN_T&)> subCb =
[this, ros1_pub](const IGN_T &_msg)
std::function<void(const IGN_T&,
const ignition::transport::MessageInfo &)> subCb =
[this, ros1_pub](const IGN_T &_msg,
const ignition::transport::MessageInfo &_info)
{
this->ign_callback(_msg, ros1_pub);
// Ignore messages that are published from this bridge.
if (!_info.IntraProcess())
this->ign_callback(_msg, ros1_pub);
};

node->Subscribe(topic_name, subCb);
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