From c0b8067f78655647d398d12dac305e3993a90d85 Mon Sep 17 00:00:00 2001
From: Yadunund <yadunund@openrobotics.org>
Date: Thu, 11 Jan 2024 19:47:09 +0800
Subject: [PATCH] Call ze_querying_subscriber_get after query sub is
 initialized

Signed-off-by: Yadunund <yadunund@openrobotics.org>
---
 rmw_zenoh_cpp/src/rmw_zenoh.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
index 7c39b356..8ed69e06 100644
--- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp
+++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -1321,6 +1321,14 @@ rmw_create_subscription(
       RMW_SET_ERROR_MSG("unable to create zenoh subscription");
       return nullptr;
     }
+    // Call this method when a publisher with matching QoS is discovered since
+    // the published data could have been transmitted before the publisher was
+    // discovered.
+    ze_querying_subscriber_get(
+      z_loan(std::get<ze_owned_querying_subscriber_t>(sub_data->sub)),
+      z_loan(keyexpr),
+      NULL
+    );
   }
   // Create a regular subscriber for all other durability settings.
   else {