From 376352c52ee8f962517583e22c661e2178250133 Mon Sep 17 00:00:00 2001 From: Michel Hidalgo Date: Thu, 9 Jan 2020 18:07:37 -0300 Subject: [PATCH] Drop workaround for https://github.com/ros2/rmw_fastrtps/issues/265. Signed-off-by: Michel Hidalgo --- src/dynamic_bridge.cpp | 17 +---------------- 1 file changed, 1 insertion(+), 16 deletions(-) diff --git a/src/dynamic_bridge.cpp b/src/dynamic_bridge.cpp index 3c3d96fd..f4301fb8 100644 --- a/src/dynamic_bridge.cpp +++ b/src/dynamic_bridge.cpp @@ -459,22 +459,7 @@ int main(int argc, char * argv[]) } // ROS 2 node - - // TODO(hidmic): remove when Fast-RTPS supports registering multiple - // typesupports for the same topic in the same process. - // See https://github.com/ros2/rmw_fastrtps/issues/265. - std::vector args(argv, argv + argc); - - const char * rmw_implementation = ""; - const char * error = rcutils_get_env("RMW_IMPLEMENTATION", &rmw_implementation); - if (NULL != error) { - throw std::runtime_error(error); - } - if (0 == strcmp(rmw_implementation, "") || NULL != strstr(rmw_implementation, "fastrtps")) { - args.push_back("--ros-args"); - args.push_back("--disable-rosout-logs"); - } - rclcpp::init(args.size(), args.data()); + rclcpp::init(argc, argv); auto ros2_node = rclcpp::Node::make_shared("ros_bridge");