Address a couple nitpicks

Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
ros2 · Sep 13, 2021 · 55beff6 · 55beff6
1 parent 3ca8350
commit 55beff6
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Showing 2 changed files with 2 additions and 5 deletions.
diff --git a/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp b/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp
@@ -109,8 +109,7 @@ class ROSBAG2_CPP_PUBLIC SequentialWriter
   void write(std::shared_ptr<rosbag2_storage::SerializedBagMessage> message) override;
 
   /**
-   * Take a snapshot by triggering a circular buffer flip, writing data to rosbag,
-   * closing the rosbag, and opening a new one.
+   * Take a snapshot by triggering a circular buffer flip, writing data to disk.
    * *\returns true if snapshot is successful
    */
   bool take_snapshot() override;

diff --git a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
@@ -341,11 +341,9 @@ void SequentialWriter::write(std::shared_ptr<rosbag2_storage::SerializedBagMessa
     // If cache size is set to zero, we write to storage directly
     storage_->write(converted_msg);
     ++topic_information->message_count;
-  } else if (use_cache_) {
+  } else {
     // Otherwise, use cache buffer
     message_cache_->push(converted_msg);
-  } else if (storage_options_.snapshot_mode) {
-    message_cache_->push(converted_msg);
   }
 }