Improve node graph delivery by using a unique listening port (#711)

* Improve node graph delivery by using a unique listening port. Signed-off-by: Miguel Company <[email protected]>
ros2 · Sep 14, 2023 · b6c069c · b6c069c
1 parent 71b5b99
commit b6c069c
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Showing 2 changed files with 8 additions and 2 deletions.
diff --git a/rmw_fastrtps_cpp/src/init_rmw_context_impl.cpp b/rmw_fastrtps_cpp/src/init_rmw_context_impl.cpp
@@ -48,8 +48,11 @@ init_context_impl(
   rmw_publisher_options_t publisher_options = rmw_get_default_publisher_options();
   rmw_subscription_options_t subscription_options = rmw_get_default_subscription_options();
 
-  // This is currently not implemented in fastrtps
+  // Avoid receiving graph updates from our own publication
   subscription_options.ignore_local_publications = true;
+  // Improve graph discovery by using a unique listening port for its subscription
+  subscription_options.require_unique_network_flow_endpoints =
+    RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_OPTIONALLY_REQUIRED;
 
   std::unique_ptr<rmw_dds_common::Context> common_context(
     new(std::nothrow) rmw_dds_common::Context());

diff --git a/rmw_fastrtps_dynamic_cpp/src/init_rmw_context_impl.cpp b/rmw_fastrtps_dynamic_cpp/src/init_rmw_context_impl.cpp
@@ -48,8 +48,11 @@ init_context_impl(
   rmw_publisher_options_t publisher_options = rmw_get_default_publisher_options();
   rmw_subscription_options_t subscription_options = rmw_get_default_subscription_options();
 
-  // This is currently not implemented in fastrtps
+  // Avoid receiving graph updates from our own publication
   subscription_options.ignore_local_publications = true;
+  // Improve graph discovery by using a unique listening port for its subscription
+  subscription_options.require_unique_network_flow_endpoints =
+    RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_OPTIONALLY_REQUIRED;
 
   std::unique_ptr<rmw_dds_common::Context> common_context(
     new(std::nothrow) rmw_dds_common::Context());