Merge commit 'be31a20eda3ee9325dff022df2d1480a243d274c'

rmw_zenoh_cpp/src/detail/rmw_data_types.cpp

@@ -528,7 +528,12 @@ void client_data_handler(const z_loaned_reply_t *reply, void *data) {
     return;
   }
 
-  if (!z_reply_is_ok(reply)) {
+  if (z_reply_is_ok(reply))
+  {
+    z_owned_reply_t owned_reply;
+    z_reply_clone(&owned_reply, reply);
+    client_data->add_new_reply(std::make_unique<ZenohReply>(&owned_reply));
+  } else {
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_loan(client_data->keyexpr), &keystr);
     const z_loaned_reply_err_t *err = z_reply_err(reply);
@@ -545,15 +550,6 @@ void client_data_handler(const z_loaned_reply_t *reply, void *data) {
     z_drop(z_move(err_str));
     return;
   }
-  z_owned_reply_t owned_reply;
-  z_reply_clone(&owned_reply, reply);
-
-  if (!z_reply_check(&owned_reply)) {
-    RMW_ZENOH_LOG_ERROR_NAMED("rmw_zenoh_cpp", "z_reply_check returned False");
-    return;
-  }
-
-  client_data->add_new_reply(std::make_unique<ZenohReply>(&owned_reply));
 }
 
 void client_data_drop(void *data) {

rmw_zenoh_cpp/src/rmw_init.cpp

@@ -351,25 +351,14 @@ rmw_ret_t rmw_init(const rmw_init_options_t *options, rmw_context_t *context) {
 
   z_view_keyexpr_from_str(&keyexpr, liveliness_str.c_str());
 
-  zc_liveliness_declare_subscriber(
+  if(zc_liveliness_declare_subscriber(
       &context->impl->graph_subscriber,
       z_loan(context->impl->session), z_loan(keyexpr),
-      z_move(callback), &sub_options);
-
-  const z_loaned_keyexpr_t *sub_ke = z_subscriber_keyexpr(z_loan(context->impl->graph_subscriber));
-  z_view_string_t sub_keyexpr;
-  z_keyexpr_as_view_string(sub_ke, &sub_keyexpr);
-
-
-  auto undeclare_z_sub = rcpputils::make_scope_exit([context]() {
-    z_undeclare_subscriber(z_move(context->impl->graph_subscriber));
-  });
-  if (!z_check(context->impl->graph_subscriber)) {
+      z_move(callback), &sub_options) != Z_OK) {
     RMW_SET_ERROR_MSG("unable to create zenoh subscription");
     return RMW_RET_ERROR;
   }
 
-  undeclare_z_sub.cancel();
   close_session.cancel();
   destruct_guard_condition_data.cancel();
   impl_destructor.cancel();