Support loading default XML profile file

ros2 · Sep 25, 2017 · 25839e6 · 25839e6
1 parent a9ffcc5
commit 25839e6
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Showing 3 changed files with 10 additions and 0 deletions.
diff --git a/rmw_fastrtps_cpp/src/rmw_node.cpp b/rmw_fastrtps_cpp/src/rmw_node.cpp
@@ -196,6 +196,10 @@ rmw_create_node(
   }
 
   ParticipantAttributes participantAttrs;
+
+  // Load default XML profile.
+  Domain::getDefaultParticipantAttributes(participantAttrs); 
+
   participantAttrs.rtps.builtin.domainId = static_cast<uint32_t>(domain_id);
   participantAttrs.rtps.setName(name);
 

diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
@@ -80,6 +80,9 @@ rmw_create_publisher(const rmw_node_t * node,
   PublisherAttributes publisherParam;
   const GUID_t * guid = nullptr;
 
+  // Load default XML profile.
+  Domain::getDefaultPublisherAttributes(publisherParam);
+
   // TODO(karsten1987) Verify consequences for std::unique_ptr?
   info = new CustomPublisherInfo();
   info->typesupport_identifier_ = type_support->typesupport_identifier;

diff --git a/rmw_fastrtps_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
@@ -84,6 +84,9 @@ rmw_create_subscription(const rmw_node_t * node,
   rmw_subscription_t * rmw_subscription = nullptr;
   SubscriberAttributes subscriberParam;
 
+  // Load default XML profile.
+  Domain::getDefaultSubscriberAttributes(subscriberParam);
+
   info = new CustomSubscriberInfo();
   info->typesupport_identifier_ = type_support->typesupport_identifier;