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[Humble] make recorder node composable by inheritance (backport #1093) #1097

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Sep 22, 2022
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[Humble] make recorder node composable by inheritance (backport #1093) #1097

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8 changes: 4 additions & 4 deletions rosbag2_transport/include/rosbag2_transport/recorder.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -114,6 +114,10 @@ class Recorder : public rclcpp::Node
protected:
ROSBAG2_TRANSPORT_EXPORT
std::unordered_map<std::string, std::string> get_requested_or_available_topics();
std::shared_ptr<rosbag2_cpp::Writer> writer_;
rosbag2_storage::StorageOptions storage_options_;
rosbag2_transport::RecordOptions record_options_;
std::atomic<bool> stop_discovery_;

private:
void topics_discovery();
Expand Down Expand Up @@ -145,10 +149,6 @@ class Recorder : public rclcpp::Node

void warn_if_new_qos_for_subscribed_topic(const std::string & topic_name);

std::shared_ptr<rosbag2_cpp::Writer> writer_;
rosbag2_storage::StorageOptions storage_options_;
rosbag2_transport::RecordOptions record_options_;
std::atomic<bool> stop_discovery_;
std::future<void> discovery_future_;
std::unordered_map<std::string, std::shared_ptr<rclcpp::GenericSubscription>> subscriptions_;
std::unordered_set<std::string> topics_warned_about_incompatibility_;
Expand Down