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Enable history option for liveliness subscriber. #27

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merged 1 commit into from
Oct 8, 2024
Merged

Enable history option for liveliness subscriber. #27

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3 changes: 3 additions & 0 deletions rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -120,6 +120,9 @@ rmw_ret_t rmw_context_impl_s::Data::subscribe_to_ros_graph()
// shared_ptr<Data> would live on until the graph_sub_data_handler callback.
zc_liveliness_subscriber_options_t sub_options;
zc_liveliness_subscriber_options_default(&sub_options);
// Enable history option to retrieve the old graph info in case there is
// something updated after getting the graph info.
sub_options.history = true;
z_owned_closure_sample_t callback;
z_closure(&callback, graph_sub_data_handler, nullptr, this);
z_view_keyexpr_t keyexpr;
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