ros2GH-27 Stop topic polling if subscription setup is complete

bosch-io · Nov 26, 2018 · 525d0ac · 525d0ac
1 parent 1751302
commit 525d0ac
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -71,6 +71,10 @@ std::future<void> Recorder::launch_topics_discovery(
           node_->get_all_topics_with_types() :
           node_->get_topics_with_types(topics);
 
+        if (!topics.empty() && subscriptions_.size() == topics.size()) {
+          return;
+        }
+
         for (const auto & topic_with_type : all_topics_and_types) {
           std::string topic_name = topic_with_type.first;
           bool already_subscribed = std::find(