Reintroduce Don't warn for unknown types if topics are not selected (…

…#1825) (#1827) Reintroduce the fix from 51a83f4 which was discussed in #1485. This gives a massive CPU improvement. Signed-off-by: Ramon Wijnands <[email protected]> (cherry picked from commit e75d6d6) Co-authored-by: Ramon Wijnands <[email protected]>
ros2 · Oct 7, 2024 · 78f0e80 · 78f0e80
1 parent 95ae5e6
commit 78f0e80
Showing 1 changed file with 12 additions and 11 deletions.
diff --git a/rosbag2_transport/src/rosbag2_transport/topic_filter.cpp b/rosbag2_transport/src/rosbag2_transport/topic_filter.cpp
@@ -129,17 +129,6 @@ bool TopicFilter::take_topic(
   const std::string & topic_type = topic_types[0];
   bool is_service_event_topic = rosbag2_cpp::is_service_event_topic(topic_name, topic_type);
 
-  if (!record_options_.include_unpublished_topics && node_graph_ &&
-    topic_is_unpublished(topic_name, *node_graph_))
-  {
-    return false;
-  }
-
-  if (record_options_.ignore_leaf_topics && node_graph_ &&
-    is_leaf_topic(topic_name, *node_graph_))
-  {
-    return false;
-  }
 
   if (!is_service_event_topic) {
     if (!record_options_.all_topics &&
@@ -235,6 +224,18 @@ bool TopicFilter::take_topic(
     return false;
   }
 
+  if (!record_options_.include_unpublished_topics && node_graph_ &&
+    topic_is_unpublished(topic_name, *node_graph_))
+  {
+    return false;
+  }
+
+  if (record_options_.ignore_leaf_topics && node_graph_ &&
+    is_leaf_topic(topic_name, *node_graph_))
+  {
+    return false;
+  }
+
   return true;
 }