strip 'Sample_' from reported types

rmw_opensplice_cpp/src/rmw_service_names_and_types.cpp

@@ -30,6 +30,7 @@
 #include "types.hpp"
 #include "demangle.hpp"
 
+#define SAMPLE_PREFIX "/Sample_"
 // The extern "C" here enforces that overloading is not used.
 extern "C"
 {
@@ -119,7 +120,18 @@ rmw_get_service_names_and_types(
       // Duplicate and store each type for the service
       size_t type_index = 0;
       for (const auto & type : service_n_types.second) {
-        char * type_name = rcutils_strdup(type.c_str(), *allocator);
+        size_t n = type.find(SAMPLE_PREFIX);
+        if (std::string::npos == n) {
+          char * error_msg = rcutils_format_string(
+            *allocator,
+            "failed to convert DDS type name to ROS service type name: '" SAMPLE_PREFIX
+            "' not found in type: '%s'", type.c_str());
+          RMW_SET_ERROR_MSG(error_msg)
+          fail_cleanup();
+          return RMW_RET_ERROR;
+        }
+        std::string stripped_type = type.substr(0, n + 1) + type.substr(n + strlen(SAMPLE_PREFIX));
+        char * type_name = rcutils_strdup(stripped_type.c_str(), *allocator);
         if (!type_name) {
           RMW_SET_ERROR_MSG_ALLOC("failed to allocate memory for type name", *allocator)
           fail_cleanup();