From 09ee6346b9fb5c8e038cbb042b589989905160c6 Mon Sep 17 00:00:00 2001 From: yuanyuyuan Date: Mon, 26 Aug 2024 21:08:06 +0800 Subject: [PATCH] fix: adopt the fix of `ze_querying_subscriber_get` options --- rmw_zenoh_cpp/src/rmw_zenoh.cpp | 8 ++++---- zenoh_c_vendor/CMakeLists.txt | 4 ++-- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp index 9b480276..be26c07e 100644 --- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp +++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp @@ -1500,10 +1500,10 @@ rmw_create_subscription( "QueryingSubscriberCallback triggered over %s.", selector.c_str() ); - z_get_options_t opts = z_get_options_default(); - opts.target = Z_QUERY_TARGET_ALL_COMPLETE; - opts.timeout_ms = std::numeric_limits::max(); - opts.consolidation = z_query_consolidation_latest(); + ze_querying_subscriber_options_t opts = ze_querying_subscriber_options_default();; + opts.query_timeout_ms = std::numeric_limits::max(); + opts.query_consolidation = z_query_consolidation_latest(); + opts.query_accept_replies = ZCU_REPLY_KEYEXPR_ANY; ze_querying_subscriber_get( z_loan(std::get(sub_data->sub)), z_keyexpr(selector.c_str()), diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt index 7903e1e8..cbc60901 100644 --- a/zenoh_c_vendor/CMakeLists.txt +++ b/zenoh_c_vendor/CMakeLists.txt @@ -24,8 +24,8 @@ set(ZENOHC_CARGO_FLAGS "--no-default-features$--features=zenoh/shared # - https://github.com/eclipse-zenoh/zenoh-c/pull/358 (fix debian packaging issue: https://github.com/jspricke/ros-deb-builder-action/issues/49) # - https://github.com/eclipse-zenoh/zenoh/pull/1150 (fix deadlock issue https://github.com/ros2/rmw_zenoh/issues/182) ament_vendor(zenoh_c_vendor - VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git - VCS_VERSION 548ee8dde0f53a58c06e68a2949949b31140c36c + VCS_URL https://github.com/ZettaScaleLabs/zenoh-c + VCS_VERSION d4df47382482b1bc7a5b64ca6879ff800779df7b CMAKE_ARGS "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}" )